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4th International Conference on Frontiers Technology of Information and Computer, ICFTIC 2022

作者： Cao, Yu Wang, Yu Feng, Haiwen Wang, Ting School of Software College Shenyang University of Technology Shenyang110870 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350321951

In view of the problems of small scale and low contrast of ceramic tile defects, various types of ceramic tile surface defects, and difficulty in realizing high-precision ceramic tile defect detection, a ceramic tile surface defect detection model based on improved Cascade RCNN is proposed to locate and identify the types of ceramic tile surface defects in different texture backgrounds. The improved ResNest network is used to improve the classification ability of the algorithm and optimize the performance of the model. The improved feature pyramid enhanced the feature extraction ability of the algorithm, and improved the accuracy of detecting small-scale defects and low-contrast defects of ceramic tiles. The whole connection structure of the last layer of cascade detectors was modified to double-head structure, which improved the ability of detectors to perform classification and regression tasks, and solved the problem of various kinds of defects on the surface of ceramic tiles. After data collection, 2810 tiles defect pictures were obtained, and then 7934 tiles defect slices were obtained by image segmentation, and the slices were made into tiles defect data sets. Experiments show that this method can achieve 77.8% MAP and 93.9% average positive detection rate, which is higher than Faster RCNN and original Cascade RCNN. © 2022 IEEE.

关键词： Deep learning

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T3: Multi-modal Tailless Triple-Flapping-Wing Robot for Efficient Aerial and Terrestrial Locomotion

arXiv

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arXiv 2025年

作者： Xu, Xiangyu Zheng, Zhi Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Flapping-wing robots offer great versatility;however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of T3, a novel tailless flapping-wing robot with three pairs of independently actuated wings. Inspired by juvenile water striders, T3 incorporates bio-inspired elastic passive legs that effectively transmit vibrations generated during wing flapping, enabling ground movement without additional motors. This novel mechanism facilitates efficient multi-modal locomotion while minimizing actuator usage, reducing complexity, and enhancing performance. An SE(3)-based controller ensures precise trajectory tracking and seamless mode transition. To validate T3’s effectiveness, we developed a fully functional prototype and conducted targeted modeling, real-world experiments, and benchmark comparisons. The results demonstrate the robot’s and controller’s outstanding performance, underscoring the potential of multi-modal flapping-wing technologies for future aerial-ground robotic applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Antenna grounds

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Development of Method for Generating Trajectories of Movement of End Effectors and control Programs for Industrial Robots in an Uncertain Working Environment

Development of Method for Generating Trajectories of Movemen...

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2021 International Russian Automation Conference, RusAutoCon 2021

作者： Yukhimets, Dmitry Gubankov, Anton Mursalimov, Eduard Institute of Automation and Control Processes Robotic Laboratory Vladivostok Russia Far Eastern Federal University Dept. of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Laboratory of Intelligent Information Systems for Marine Robots Vladivostok Russia

ISBN: (纸本)9780738131566

the deals with the implementation of the method of the trajectories generating for end effectors and control programs for industrial robots in an uncertain working environment. To generate correct trajectories, it is proposed to sequentially process data from vision systems, correct them in the human-machine interface, generate a control program in a generalized form using universal commands and then translate it into the form that a specific industrial robot requires. Experimental studies of the proposed method were carried out, which confirmed the operability and effectiveness of the proposed method. © 2021 IEEE.

关键词： Trajectories

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A non-interactive verifiable computation model of perceptual layer data based on CP-ABE 2

A non-interactive verifiable computation model of perceptual...

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2nd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2022

作者： Zhao, Jianming Miao, Weiwei Zeng, Zeng Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Grid Jiangsu Electric Power Co. Ltd. Information Telecommunication Branch Nanjing China

ISBN: (纸本)9781665408868

The computing of smart devices at the perception layer of the power Internet of Things is often insufficient, and complex computing can be outsourced to server resources such as the cloud computing, but the allocation process is not safe and controllable. Under special constraints of the power Internet of Things such as multi-users and heterogeneous terminals, we propose a CP-ABE-based non-interactive verifiable computation model of perceptual layer data. This model is based on CP-ABE, NPOT, FHE and other relevant safety and verifiable theories, and designs a new multi-user non-interactive secure verifiable computing scheme to ensure that only users with the decryption key can participate in the execution of NPOT Scheme. In terms of the calculation process design of the model, we gave a detailed description of the system model, security model, plan. Based on the definition given, the correctness and safety of the non-interactive safety verifiable model design in the power Internet of Things environment are proved, and the interaction cost of the model is analyzed. Finally, it proves that the CP-ABE-based non-interactive verifiable computation model for the perceptual layer proposed in this paper has greatly improved security, applicability, and verifiability, and is able to meet the security outsourcing of computing in the power Internet of Things environment. © 2022 IEEE.

关键词： Internet of things

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Optimization method of Data interaction in power IoT based on particle swarm algorithm 2

Optimization method of Data interaction in power IoT based o...

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2nd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2022

作者： Wang, Tianyu Miao, Weiwei Zeng, Zeng Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Grid Jiangsu Electric Power Co. Ltd. Information Telecommunication Branch Nanjing China

ISBN: (纸本)9781665408868

The ubiquitous power Internet of things (IoT) constructs an intelligent service system with comprehensive perception, efficient response and flexible processing around all departments of the power system and with the support of communication technologies such as mobile Internet and artificial intelligence. With the rapid development of smart IoT perceptual devices and edge computing, it has become possible for perceptual devices and edge IoT agents to cooperate in processing tasks. The task completion time can be greatly reduced through the cooperative processing among multiple entities in the IoT. However, as the scale of the Internet of things and number of to-be-processed tasks expanding year by year, the simple task data interaction between devices can not meet the needs of the completion time. Therefore, it is an urgent problem to optimize data transmission and data interaction in the process of collaborative task processing among IoT devices. Motivated by this point, we propose an optimization method of data interaction in power IoT based on particle swarm algorithm. Evaluation on example IoT networks shows the effectiveness of our method to reduce overall task completion time. © 2022 IEEE.

关键词： Internet of things

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Trajectory Tracking Error Optimization based on Iterative Learning 4

Trajectory Tracking Error Optimization based on Iterative Le...

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4th IEEE International Conference on Power, intelligent Computing and systems, ICPICS 2022

作者： Huang, Haoran Zhang, Tao Jia, Danping Zhang, Hualiang Yan, Hongyu Pei, Quanshen Ding, Fan Shenyang University of Technology School of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (数字)9781665467735

ISBN: (纸本)9781665467735

The X-Y precision plane motion platform is widely used in various precision motion control fields. In this paper, to improve the tracking accuracy of the X-Y precision plane motion table, a high-level iterative learning control with forgetting factor is proposed, and it is combined with a kind of PD-type iterative learning control with low-pass filter, and the method is applied to the Simulink model of the linear motor of the X-Y precision plane platform, thereby improving the trajectory accuracy of the X-Y precision plane motion platform. The traditional ILC has the disadvantage that the more number of iterations, the more divergent tracking error is. The new ILC proposed in this paper can not only effectively reduce the noise, reduce the tracking error, but also eliminate the problem of error divergence caused by too many iterations. At last, the experimental results of high-order PD iterative learning with forgetting factor and low-pass filter, PD iterative learning with low-pass filter, ordinary PD iterative learning are compared. The results show that the high-order PD iterative learning with forgetting factor and low-pass filter has better tracking effect than the first-order iterative learning and other several algorithms. It can make the movement trajectory of the X-Y precision plane motion platform more stable and improve the accuracy. © 2022 IEEE.

关键词： Low pass filters

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Service Encapsulation Method Based on Industrial Internet

Service Encapsulation Method Based on Industrial Internet

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作者： Li, Kai Pan, Hao Tong, Xing Li, Dong Wang, Ting Shenyang University of Chemical Technology Liaoning Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China

Based on the analysis of software and hardware integration and highly heterogeneous infrastructure in the traditional industrial field, this paper puts forward the concept of service packaging engine, puts forward a unified service packaging model for Industry by using the Internet thinking design mode, and can complete the control of complex industrial field equipment by editing only simple logic in the programming interface. This article focuses on basic service encapsulation. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computer programming

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Research on cloud-side collaborative task migration strategy based on simulated annealing-Bee Colony Algorithm in Power IoT 2

Research on cloud-side collaborative task migration strategy...

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2nd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2022

作者： Zhang, Bowen Zeng, Zeng Miao, Weiwei Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Grid Jiangsu Electric Power Co. Ltd. Information Telecommunication Branch Nanjing China

ISBN: (纸本)9781665408868

In the power IoT, in order to make up for the shortcomings of insufficient computing capabilities of edge-side devices, cloud-side collaboration technology has attracted more and more attention. The cloud-side collaboration technology relies on the selection of task migration strategies. However, when the existing migration strategies face the complex edge-side terminal devices in the power IoT, the energy consumption and delay performance are not good enough, which greatly affects the user's power experience. Therefore, it is very valuable to study a cloud-side collaborative task migration strategy under the power IoT environment. This paper proposes a task migration strategy based on simulated annealing-Bee Colony Algorithm in the environment of power IoT, which can solve the problem of task migration. Experimental results show that compared with the existing popular methods, this method has advantages in terms of energy consumption and time delay. This research can meet the real-time requirements of the power IoT, while reducing energy consumption and improving the user's power experience, thereby promoting the further development of the power IoT. © 2022 IEEE.

关键词： Simulated annealing

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A distributed integrated energy trading solution

A distributed integrated energy trading solution

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2021 International Conference on Computer, Blockchain and Financial Development, CBFD 2021

作者： Dong, Jingya Song, Chunhe Zheng, Zeyu Zhang, Tao Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Nationality Department of Digital Factory Shenyang China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665412278

Blockchain technology can bring profound changes to the energy industry and is now becoming a new driving force for the rapid development of this sector. In order to build a secure, reliable, and stable energy service system, it is necessary to study the framework and interaction mechanism of the energy trading system. This paper introduces a distributed integrated energy trading solution, proposes a new overall architecture, and analyses the blockchain model. This paper presents an algorithm to calculate the score directly in the client. Through this algorithm, users can choose service providers, get rid of cloud control, and realize users' free choice of electricity purchase and interaction between users through the smart contract. The test results show that the system has high performance and efficiency, can meet the needs of integrated energy transactions, and provides a solution for the application of blockchain in energy trading. © 2021 IEEE.

关键词： Smart contract

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A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED

A High-Precision Edge Detection Algorithm Based on Improved ...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent systems

作者： Yeborui Yuan Wenyuan Chen Jie Tang Jia Yang School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology.

关键词： Automation Image edge detection Image processing Neural networks control systems Iterative algorithms intelligent systems

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