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IEEE Transactions on AgriFood Electronics 2024年第2期2卷 335-346页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonONN6A 5B9 Canada Western University Advanced Robotics and Mechatronic Systems Laboratory The Department of Electrical and Computer Engineering LondonONN6A 5B9 Canada

In this article, we propose a new algorithm to improve plant recognition through the use of feature descriptors. The accurate results from this identification method are essential for enabling autonomous tasks, such as stem-stake coupling, in precision agriculture. The proposed method divides the input seedling color image into subimages within the International Commission on Illumination, for three color axes, L for lightness, A for the green-red component, and B for the blue-yellow component, color space and extracts seven key feature descriptors for each subimage. It then uses feature descriptors to create a matrix, which is employed to train an artificial neural network to determine optimized cutoff values. This network suggests cutoff values for a multilevel threshold segmentation for plant recognition. The method provides robust and real-time adaptive segmentation adaptable to various seedlings, backgrounds, and lighting conditions. By enabling accurate segmentation of the plant, morphological image processing can more effectively eliminate leaves to locate the seedling stem. This methodology automates image analysis in seedling propagation facilities and greenhouses and enables a wide range of precision agricultural tasks. © 2023 IEEE.

关键词： Machine vision

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Recent advances on monolithic perovskite-organic tandem solar cells

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Interdisciplinary Materials 2024年第1期3卷 113-132页

作者： Guanshui Xie Huan Li Longbin Qiu Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhenChina

Perovskite-organic tandem solar cells(TSCs)have emerged as a groundbreaking technology in the realm of photovoltaics,showcasing remarkable enhancements in efficiency and significant potential for practical ***-organic TSCs also exhibit facile fabrication surpassing that of all-perovskite or all-organic TSCs,attributing to the advantageous utilization of orthogonal solvents enabling sequential solution process for each *** perovskite-organic TSCs capitalize on the complementary light absorption characteristics of perovskite and organic *** is a promising prospect of achieving further enhanced power conversion efficiencies by covering a broad range of the solar spectrum with optimized perovskite absorber,organic semiconductors as well as the interconnecting layer's optical and electrical *** review comprehensively analyzes the recent advancements in perovskite-organic TSCs,highlighting the synergistic effects of combining perovskite with a low open-circuit voltage deficit,organic materials with broader light absorption,and interconnecting layers with reduced optical and electrical ***,the underlying device architecture design,regulation strategies,and key challenges facing the high performance of the perovskite-organic TSCs are also discussed.

关键词： interconnecting layer narrow‐bandgap organic solar cells recombination layer tandem solar cells wide‐bandgap perovskite solar cells

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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A Novel Technology for Semiautomatic and Automatic Stem–Stake Coupling of Seedlings and Plants

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 254-262页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonN6A 5B9 Canada Western University Department of Electrical and Computer Engineering LondonN6A 3K7 Canada Advanced Robotics and Mechatronic Systems Laboratory LondonN6A 5B9 Canada

This article introduces a novel mechatronic system for coupling the stems of seedlings and plants to wooden stakes or ropes, a crucial process for supporting them during growth, transportation, and fruiting in plant propagation facilities and greenhouses. The stem–stake coupling device utilizes interconnected mechanisms and an impedance control method to adjust motor torque and speed, shaping metallic wire into clips of various shapes and dimensions, effectively securing plant stems to stakes or ropes. In a robotic system, a claw-shaped arm mechanism, a stereo camera, and real-time vision techniques are integrated into the stem–stake coupling device to identify the optimal coupling point and automate the coupling task. This innovation addresses the labor-intensive task of manual coupling, offering a scalable solution for growers through handheld devices or fully automated robotic systems. In the context of increasing labor shortages and rising costs, the technology offers a sustainable and efficient alternative with significant potential to enhance operational efficiency in greenhouses and propagation facilities. © 2023 IEEE.

关键词： Seed

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Control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

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32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snake

Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snak...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lu, Jinxuan Hu, Xinshu Zhu, Xiaoyu Chen, Cheng Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen China Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Shenzhen China Guangzhou China

ISBN: (纸本)9781665481090

Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities. © 2024 IEEE.

关键词： Pneumatics

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Process planning and contour-based error compensation for precision grinding of miniature scalpels

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先进制造进展（英文版） 2024年第1期12卷 108-123页

作者： Cheng Fan Cao-Yang Xue Jun Zhao Wei Jiang Wen-Ge Han Lei Zhang Li-Ning Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical EngineeringSoochow UniversitySuzhou 215021JiangsuPeople's Republic of China Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical and Electrical EngineeringZhejiang UniversityHangzhou 310027People's Republic of China State Key Laboratory of Intelligent Equipment and Manufacturing School of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023People's Republic of China

Miniature scalpels are mainly used in microsur-geries such as ophthalmic and cardiovascular *** size of a miniature scalpel is only a few millimeters,and the precision of the blade shape is high,which makes pro-duction of miniature scalpels extremely *** study proposes a new sharpening process for grinding miniature scalpels on a four-axis machine tool.A post-processing algo-rithm for a four-axis grinding machine based on a kinemat-ics model is *** then propose a corresponding parameter calibration method for the parameters used in the kinematics *** of possible errors in the param-eter calibration,a contour-based error compensation method is proposed for accurate adjustments to the edge shape fol-lowing *** can solve the problem of large devia-tions between the actual edge shape after grinding and the ideal edge *** effectiveness of the proposed process planning and error compensation method is verified experi-mentally,and the grinding process parameters of the minia-ture scalpel are optimized to improve its surface processing *** sharpness of the optimized miniature scalpel is less than 0.75 N,and the blade shape is symmetrical,which meets the technical requirements of miniature scalpels.

关键词： Miniature scalpel Sharpening Kinematics Error compensation Grinding

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OFDM-structure based waveform designs for integrated sensing and communication

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Science China(Information Sciences) 2025年第5期68卷 267-284页

作者： Jiaqi LIU Ping YANG Ke JIANG Jiarong ZHAO Wei XIANG Jianping WEI Ruixiang DUAN Saviour ZAMMIT Tony Q.S.QUEK National Key Laboratory of Wireless Communications University of Electronic Science and Technology of China School of Computing Engineering and Mathematical Sciences La Trobe University Meituan Academy of Robotics Department of Communications and Computer Engineering University of Malta Information Systems Technology and Design Pillar Singapore University of Technology and Design

The future sixth-generation(6G) paradigm aims to seamlessly integrate communication and environmental sensing capabilities into a single radio signal, promising improved efficiency and cost-effectiveness through simultaneous data communications and environmental perception. At the core of this evolution, orthogonal frequency division multiplexing(OFDM) and its advanced waveforms emerge as pivotal for integrated sensing and communications(ISAC). This study introduces a concise and unified ISAC waveform design framework based on orthogonal multicarriers. This framework supports versatile applications of OFDM and its derivative waveforms within a generalized ISAC system, marking a significant leap in integrating communication and sensing capabilities. A distinguishing feature of this framework is its adaptability,allowing users to intelligently select modulation strategies based on their specific environmental needs. This adaptability optimizes performance across diverse scenarios. Central to our innovations is the proposal of discrete Fourier transformspread OFDM with index modulation(DFT-S-OFDM-IM). This framework is paired with newly proposed signal processing methods for single-input single-output and multiple-input multiple-output(MIMO) systems. Extensive evaluations highlight DFT-S-OFDM-IM's superiority, including dramatically reduced peak-to-average power ratios(PAPRs), competitive communication performance, and exceptional sensing capabilities, striking an elegant balance between communication capacity and environmental sensing precision.

关键词： DFT-S-OFDM-IM index modulation integrated sensing and communication OFDM

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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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