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Inverse kinematics solution for a six-degree-of-freedom upper limb rehabilitation robot using deep learning models

Neural computing and Applications 2025年 1-19页

作者： Shah, Muhammad Faizan Khan, Naveed Ahmad Jamwal, Prashant K. Chetty, Girija Goecke, Roland Hussain, Shahid School of Information Technology & Systems University of Canberra Canberra Australia Department of Electrical and Computer Engineering Nazarbayev University Astana Kazakhstan School of Systems and Computing University of New South Wales Canberra Australia

The inverse kinematics problem in serially manipulated upper limb rehabilitation robots implies the usage of the end-effector position to obtain the joint rotation angles. In contrast to the forward kinematics, there are no systematic approaches for solving the inverse kinematics problem. Furthermore, for some morphology of the upper limb rehabilitation robots, the inverse kinematics problem is particularly challenging to solve. Conventional methods to solve the inverse kinematics problem reported in the literature are computationally expensive. In the present work, we propose a deep learning-based model to acquire the joint angles for a given end-effector position. The proposed approach exhibits high efficacy in determining the joint angles for various target positions and can accurately predict the end-effector positions once trained, improving the ability of the upper limb rehabilitation robot to adapt to varying patient needs. Due to its improved capability and effectiveness to track positions, the proposed algorithm lays the foundation for the development of efficient controllers in future. © The Author(s) 2025.

关键词： Inverse kinematics

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Adversarial machine learning: a review of methods, tools, and critical industry sectors

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Artificial Intelligence Review 2025年第8期58卷 1-87页

作者： Pelekis, Sotiris Koutroubas, Thanos Blika, Afroditi Berdelis, Anastasis Karakolis, Evangelos Ntanos, Christos Spiliotis, Evangelos Askounis, Dimitris Decision Support Systems Laboratory School of Electrical and Computer Engineering National Technical University of Athens Athens Greece Superbo AI Athens Greece

The rapid advancement of Artificial Intelligence (AI), particularly Machine Learning (ML) and Deep Learning (DL), has produced high-performance models widely used in various applications, ranging from image recognition and chatbots to autonomous driving and smart grid systems. However, security threats arise from the vulnerabilities of ML models to adversarial attacks and data poisoning, posing risks such as system malfunctions and decision errors. Meanwhile, data privacy concerns arise, especially with personal data being used in model training, which can lead to data breaches. This paper surveys the Adversarial Machine Learning (AML) landscape in modern AI systems, while focusing on the dual aspects of robustness and privacy. Initially, we explore adversarial attacks and defenses using comprehensive taxonomies. Subsequently, we investigate robustness benchmarks alongside open-source AML technologies and software tools that ML system stakeholders can use to develop robust AI systems. Lastly, we delve into the landscape of AML in four industry fields –automotive, digital healthcare, electrical power and energy systems (EPES), and Large Language Model (LLM)-based Natural Language Processing (NLP) systems– analyzing attacks, defenses, and evaluation concepts, thereby offering a holistic view of the modern AI-reliant industry and promoting enhanced ML robustness and privacy preservation in the future. © The Author(s) 2025.

关键词： Deep learning

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Speed Harmonic based Saturation Free Inductance Modeling and Estimation of Interior PMSM Using Measurements Under One Load Condition

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CES Transactions on electrical Machines and systems 2025年第1期9卷 91-99页

作者： Guodong Feng Yuting Lu Zhe Tong Beichen Ding Guishan Yan Chunyan Lai the School of Intelligent Systems Engineering Sun Yat-sen UniversityShenzhenChina the School of Advanced Manufacturing Sun Yat-sen University the Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) China the Department of Electrical and Computer Engineering Concordia UniversityQCCanada

For permanent magnet synchronous machines(PMSMs),accurate inductance is critical for control design and condition *** to magnetic saturation,existing methods require nonlinear saturation model and measurements from multiple load/current conditions,and the estimation is relying on the accuracy of saturation model and other machine parameters in the *** harmonic produced by harmonic currents is inductance-dependent,and thus this paper explores the use of magnitude and phase angle of the speed harmonic for accurate inductance *** estimation models are built based on either the magnitude or phase angle,and the inductances can be from d-axis voltage and the magnitude or phase angle,in which the filter influence in harmonic extraction is considered to ensure the estimation *** inductances can be estimated from the measurements under one load condition,which is free of saturation ***,the inductance estimation is robust to the change of other machine *** proposed approach can effectively improve estimation accuracy especially under the condition with low current *** and comparisons are conducted on a test PMSM to validate the proposed approach.

关键词： PMSM Inductance estimation Speed harmonic High frequency signal injection

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Sobol Sequence Optimization for Hardware-Efficient Vector Symbolic Architectures

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IEEE Transactions on computer-Aided Design of Integrated Circuits and systems 2025年第3期44卷 937-950页

作者： Aygun, Sercan Najafi, Hassan University of Louisiana at Lafayette School of Computing and Informatics LafayetteLA70503 United States Case Western Reserve University Electrical Computer and Systems Engineering Department ClevelandOH44106 United States

Hyperdimensional computing (HDC) is an emerging computing paradigm with significant promise for efficient and robust learning. In HDC, objects are encoded with high-dimensional vector symbolic sequences called hypervectors. The quality of hypervectors, defined by their distribution and independence, directly impacts the performance of HDC systems. Despite a large body of work on the processing parts of HDC systems, little to no attention has been paid to data encoding and the quality of hypervectors. Most prior studies have generated hypervectors using inherent random functions, such as MATLAB’s or Python’s random function. This work introduces an optimization technique for generating hypervectors by employing quasi-random sequences. These sequences have recently demonstrated their effectiveness in achieving accurate and low-discrepancy data encoding in stochastic computing systems. The study outlines the optimization steps for utilizing Sobol sequences to produce high-quality hypervectors in HDC systems. An optimization algorithm is proposed to select the most suitable Sobol sequences via indexes for generating minimally correlated hypervectors, particularly in applications related to symbol-oriented architectures. The performance of the proposed technique is evaluated in comparison to two traditional approaches of generating hypervectors based on linear-feedback shift registers and MATLAB random functions. The evaluation is conducted for three applications: 1) language;2) headline;and 3) medical image classification. Our experimental results demonstrate accuracy improvements of up to 10.79%, depending on the vector size. Additionally, the proposed encoding hardware exhibits reduced energy consumption and a superior area-delay product. © 2024 IEEE.

关键词： Stochastic systems

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Velocity control of a Stephenson III six-bar linkage-based gait rehabilitation robot using deep reinforcement learning

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Neural computing and Applications 2025年第7期37卷 5671-5682页

作者： Kapsalyamov, Akim Brown, Nicholas A. T. Goecke, Roland Jamwal, Prashant K. Hussain, Shahid School of Information Technology and Systems University of Canberra CanberraACT2617 Australia School of Clinical Sciences Queensland University of Technology BrisbaneQLD Australia School of Systems and Computing UNSW CanberraACT Australia Department of Electrical and Computer Engineering Nazarbayev University Nur-Sultan City Kazakhstan

Lower limb rehabilitation robots can help to improve the locomotor capabilities of patients experiencing gait impairments and help medical workers by reducing strain on them. However, since commercially available exoskeletons are expensive and there is a lack of number of physiotherapists many patients are still not able to get proper rehabilitation training. The closed-loop linkage mechanisms have recently drawn much attention in the realization of gait rehabilitation robots. Such mechanisms are affordable and capable of providing suitable trajectories for gait training therapy. In this work, we have proposed a fully operational one degree-of-freedom mechanism which can generate complex naturalistic lower limb trajectories. Although in theory, it is assumed that the constant speed applied at the input crank is sufficient to control the system, in reality, the external forces exerted by human legs and the inertia of the links can greatly alter the rotational velocity at the crank, which may negatively affect the training process. Therefore, we have explored the performance of a deep reinforcement learning-based control algorithm designed to regulate the speed of the input crank to reach satisfactory performance needed for gait rehabilitation training. Experimental evaluations with healthy human subjects were conducted to demonstrate that the mechanism is capable of directing lower limbs on naturalistic gait trajectories with a required walking speed. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Exoskeleton (Robotics)

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Broadband single-polarization single-mode low confinement loss hollow core anti-resonant fiber with semi-elliptical nested tube

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Optical and Quantum Electronics 2025年第4期57卷 1-12页

作者： Lin, Wen Fei, Yihong Wang, Ning Jia, Hongzhi Engineering Research Center of Optical Instruments and Systems Ministry of Education Shanghai Key Laboratory of Modern Optical Systems School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China

In this paper, a hollow-core anti-resonant optical fibre containing a semi-elliptical nested tube is proposed, which has the characteristics of single-polarization, large bandwidth, single-mode and low confinement loss. By optimizing the structural design, the polarization extinction ratio (PER) of the fiber reaches 21,0183 at a wavelength of 1.55 μm, and the y-polarized fundamental mode loss is only 0.00086 dB/m. By changing the material and thickness of the semi-ellipsoidal nested tube, a large bandwidth of 280 nm was achieved in the wavelength range of 1.51-1.78 μm, with loss limited to less than 0.001 dB/m within the bandwidth range. The PER and higher-order mode extinction ratio of 4870, 1487, respectively. The loss remains below 0.01 dB/m when the bending radius exceeds 4.5 cm. Therefore, it is expected that this optical fiber can be used in optical devices such as fiber optic sensors, fiber optic lasers and fiber optic gyroscopes. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Single mode fibers

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Cost-Optimized Task Offloading for Dependent Applications in Collaborative Edge and Cloud computing

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IEEE Internet of Things Journal 2025年第9期12卷 12975-12988页

作者： Yuan, Haitao Hu, Qinglong Wang, Shen Bi, Jing Buyya, Rajkumar Lu, Jinhu Yang, Jinhong Zhang, Jia Zhou, MengChu Beihang University School of Automation Science and Electrical Engineering Beijing100191 China City University of Hong Kong Department of Computer Science Kowloon Tong Hong Kong Beijing University of Technology School of Software Engineering Faculty of Information Technology Beijing100124 China Laboratory School of Computing and Information Systems MelbourneVIC3010 Australia CSSC Systems Engineering Research Institute Beijing100036 China Southern Methodist University Lyle School of Engineering Department of Computer Science DallasTX75205 United States New Jersey Institute of Technology Department of Electrical and Computer Engineering NewarkNJ07102 United States

A collaborative system that includes mobile devices (MDs), edge nodes (ENs), and the cloud is needed where ENs at the network edge can run offloaded tasks of MDs with limited resources and energy for timely processing for latency-sensitive applications. Unlike existing studies, we formulate a total cost minimization problem for the system for applications, which can be divided into several interdependent subtasks. Each subtask can be executed in MDs, ENs, and the cloud. This work formulates a mixed-integer nonlinear program to minimize the total system cost. To address it, a novel meta-heuristic optimization algorithm called Genetic Simulated-annealing-based Particle swarm optimization with Auto-Encoder (GSPAE) is proposed, which innovatively combines feature extraction of deep learning and global search of meta-heuristic optimization. Genetic operations provide diverse solutions, the Metropolis acceptance of annealing offers a robust global search, and autoencoders (AEs) extract distribution characteristics of particles toward high-quality regions for fast convergence. Thus, GSPAE optimizes the associations between ENs and MDs and the scheduling of subtasks among MDs, ENs, and the cloud. Experiments with large-scale Google cluster datasets show that compared to state-of-the-art benchmark methods, GSPAE reduces the total cost by at least 17% while strictly meeting limits of application latency, available energy, computing, and communication resources of ENs and MDs. © 2014 IEEE.

关键词： Mobile edge computing

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Prior-Boosted GRL: Microarchitecture Design Space Exploration via Graph Representation Learning

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IEEE Transactions on computer-Aided Design of Integrated Circuits and systems 2025年第3期44卷 1141-1154页

作者： Wu, Zheng Shen, Jinyi Yi, Xiaoling Shang, Li Yang, Fan Zeng, Xuan Fudan University State Key Laboratory of Integrated Circuits and Systems The School of Microelectronics Shanghai200433 China Fudan University State Key Laboratory of Integrated Circuits and Systems Shanghai200433 China KU Leuven Department of Electrical Engineering Microelectronics Circuits and Systems Leuven3000 Belgium Fudan University State Key Laboratory of Integrated Circuits and Systems The School of Computer Science Shanghai200433 China

The design space exploration (DSE) of contemporary microprocessors faces a significant challenge of high-computational cost. In this context, we introduce Prior-boosted graph representation learning (GRL), a novel framework for the DSE of the microarchitectures the microprocessors underpinned by graph embeddings. Using GRL, Prior-boosted GRL constructs a compact and continuous vector space for design representation. This framework is further boosted by an efficient sampling algorithm informed by prior knowledge, which is instrumental in generating a superior set of initial designs to accelerate the exploration process. A well-designed ensemble surrogate model is combined with the multiobjective Bayesian optimization to explore the design space holistically within this graph-embedding domain. Rigorous experimental evaluations conducted on the RISC-V Berkeley-Out-of-Order Machine (BOOM) platform demonstrate that Prior-boosted GRL substantially surpasses preceding methods, achieving a 107.79% enhancement in Pareto front quality compared to the state-of-the-art DSE algorithm. It also outstrips manual designs on performance, power, and area metrics. As of this writing, Prior-boosted GRL holds the first place in the ICCAD 2022 CAD Contest evaluation platform. © 2024 IEEE.

关键词： Graph embeddings

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Multi-Scale Time Series Segmentation Network Based on Eddy Current Testing for Detecting Surface Metal Defects

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 528-538页

作者： Xiaorui Li Xiaojuan Ban Haoran Qiao Zhaolin Yuan Hong-Ning Dai Chao Yao Yu Guo Mohammad S.Obaidat George Q.Huang the School of Intelligence Science and Technology University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering the Key Laboratory of Intelligent Bionic Unmanned Systems and the Institute of Materials Intelligent Technology Liaoning Academy of Materials IEEE the Department of Computer Science Hong Kong Baptist University the School of Computer and Communication Engineering Key Laboratory of Advanced Materials and Devices for Post-Moore Chips Ministry of Education University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing the School of Computer and Communication Engineering University of Science and Technology Beijing the King Abdullah Ⅱ School of Information Technology The University of Jordan the Department of Computational Intelligence the School of Computing SRM University the School of Engineering The Amity University The Hong Kong Polytechnic University

In high-risk industrial environments like nuclear power plants, precise defect identification and localization are essential for maintaining production stability and safety. However, the complexity of such a harsh environment leads to significant variations in the shape and size of the defects. To address this challenge, we propose the multivariate time series segmentation network(MSSN), which adopts a multiscale convolutional network with multi-stage and depth-separable convolutions for efficient feature extraction through variable-length templates. To tackle the classification difficulty caused by structural signal variance, MSSN employs logarithmic normalization to adjust instance distributions. Furthermore, it integrates classification with smoothing loss functions to accurately identify defect segments amid similar structural and defect signal subsequences. Our algorithm evaluated on both the Mackey-Glass dataset and industrial dataset achieves over 95% localization and demonstrates the capture capability on the synthetic dataset. In a nuclear plant's heat transfer tube dataset, it captures 90% of defect instances with75% middle localization F1 score.

关键词： Eddy current testing nondestructive testing semantic segmentation time series analysis

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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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