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26th International Conference on Industrial Technology, ICIT 2025

作者： Yang, Fan Huang, Yuening Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing HoustonTX United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (纸本)9798331521950

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints. © 2025 IEEE.

关键词： Reinforcement learning

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Path Planning for Distribution Network Robots with Adaptive Simulated Annealing-Enhanced Artificial Potential Field Method 26

Path Planning for Distribution Network Robots with Adaptive ...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Zhang, Baichao Chen, Xin Chen, Jinge Li, Jinbin Wang, Xiaokai Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Hubei Fangyuan Dongli Electric Power Science Research Co. Ltd Wuhan430077 China

ISBN: (纸本)9798331521950

In this paper, we propose a hybrid algorithm that combines an improved Artificial Potential Field (APF) method with the Simulated Annealing (SA) algorithm for path planning of an electric power operation robot manipulator in complex distribution grid environments. To address the unreachable target issue inherent in traditional APF, we introduce a distance regulation factor to optimize the repulsive function. This modification allows the manipulator to smoothly approach the target point as it nears, while the repulsion from obstacles gradually decreases. Additionally, to overcome the limitations of the traditional SA algorithm, such as its tendency to get trapped in local minimum solutions and its inefficiency in complex environments, we propose an adaptive temperature rise strategy. This strategy increases the temperature, enhancing the probability of escaping local optimal solutions. When the APF algorithm becomes trapped in a local optimum, the improved SA algorithm is applied to escape the local minimum. Once the local optimum is avoided, the algorithm switches back to APF to continue the path planning process. Simulation results demonstrate that the proposed improved APF-SA algorithm adapts effectively to various complex environments, achieving shorter planning times and higher success rates compared to traditional APF and SA algorithms. It successfully resolves the unreachable target and local minimum problems associated with APF. Finally, the feasibility of the proposed APF-SA fusion algorithm is validated through experiments conducted on an electric power operation robot experimental platform for distribution grid applications. © 2025 IEEE.

关键词： Motion planning

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Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

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IEEE Robotics and automation Letters 2025年第6期10卷 6456-6463页

作者： Sun, Ning Wang, Zelong Cheng, Long Li, Houcheng Niu, Ben Sun, Xijin Li, Ke Shandong Normal University School of Information Science and Engineering Jinan China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing China Shandong University Institute of Intelligent Medical Engineering School of Control Science and Engineering Jinan China

Hand exoskeletons have become increasingly crucial for the rehabilitation of hand function, as relevant studies have shown that using the exoskeletons to assist in rehabilitation training can improve hand motor function. However, developing a human-robot kinematic compatibility exoskeleton while providing sufficient assistance torque is still a challenge. This paper develops a series-parallel self-aligning index finger exoskeleton to assist the index finger in flexion/extension and adduction/abduction training. A series-parallel mechanism driven by two motors simultaneously was proposed for the metacarpophalangeal (MCP) joint, which can ensure human-robot joint axes self-alignment and increase the joint assistance torque. A kinematic compatibility analysis method was proposed, and the kinematic compatibility of the series-parallel mechanism was analyzed. The degrees of freedom and forward kinematics of the proposed mechanism were analyzed, and its workspace was calculated, which results show that the motion range of the MCP joint can meet the grasping training requirements. Preliminary experiments were carried out, and the results indicate that the motion trajectory coefficients of the marker points at the MCP, PIP, and DIP joints averaged for all subjects with and without the proposed exoskeleton are 0.993, 0.956, and 0.939, respectively, which can verify the kinematic transparency of the proposed mechanism. The assistance torque generated by the proposed mechanism on the MCP joint can meet the joint assistance torque requirements. In a word, the proposed exoskeleton can achieve flexion/extension and adduction/abduction training, human-robot joint axes self-alignment, and provide sufficient assistance torque. © 2016 IEEE.

关键词： Exoskeleton (Robotics)

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intelligent Monitoring Based on Integrated Temporal Dictionary Learning with Isometric Mapping for Geological Drilling Process

Intelligent Monitoring Based on Integrated Temporal Dictiona...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Tianyu Ma Sheng Du Haipeng Fan Cheng Huang School of Future Technology China University of Geosciences Wuhan China School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

Geological drilling process, owing to complex geological environment and harsh downhole conditions, generates data including characteristics such as pressure, rotational speed, and depth, which are frequently high-dimensional and noisy. These characteristics make real-time monitoring more complex. Existing methods in the geological drilling process, such as rule-based systems and threshold techniques, struggle to handle the complexity and high dimensionality of drilling data, leading to high false alarm rates and low detection accuracy. This paper develops an integrated temporal dictionary learning with isometric mapping method for monitoring geological drilling process. Specifically, Isometric Mapping is employed to perform dimensionality reduction on high-dimensional data, thereby retaining the structural features in the lower-dimensional space. Subsequently, Lasso regularization is applied for sparse coding to extract essential features from the reduced data. To address the fluctuations arising from the iterative dictionary learning process, a temporal smoothing term is incorporated to ensure the stability of the dictionary across different time steps. After that, the reconstruction errors were adopted to achieve comprehensive statistical indicators. Then the overall monitoring was realized for the plant-wide process. The effectiveness and robustness of the proposed method are demonstrated through case studies on the Tennessee-Eastman process and the actual geothermal drilling process.

关键词： Drilling Smoothing methods Accuracy Geology Velocity control Feature extraction Robustness Kernel Monitoring Principal component analysis

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A Novel Rate of Penetration Fusion Modeling Method based on Improved Dung Beetle Optimization Algorithm and Support Vector Regression

A Novel Rate of Penetration Fusion Modeling Method based on ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yang Zhou Zihan Zhang Shipeng Chen Min Wu Xin Chen School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Future Technology China University of Geosciences Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

The rate of penetration (ROP) is a critical indi-cator for evaluating drilling efficiency. Developing an accurate ROP model is essential for optimizing drilling performance and addressing process control challenges. However, ROP modeling in deep geological drilling is complicated by nonlinearity, diverse working conditions, and high-dimensional variations. To overcome these challenges, a fusion modeling approach for ROP is proposed. First, the fuzzy C-means clustering method is applied to classify drilling data into different working con-ditions. Based on this classification, support vector regression is employed to develop ROP sub-models, effectively addressing nonlinearity. To further enhance model accuracy, an improved dung beetle optimization algorithm (IDBO) is designed to deter-mine optimal model parameters and integrate the sub-models, thereby resolving issues related to multiple working conditions and high-dimensional variations. The IDBO incorporates four key enhancements, average weight, chaos disturbance, modified local search, and re-updating of the best solution, to strength-en its global search capability. Comparative results using the IEEE CEC2017 benchmark test functions demonstrate that the proposed algorithm outperforms others in 12 test functions, highlighting its strong global optimization ability. Additionally, results from real-world drilling data validate the effectiveness of the proposed modeling approach in practical applications.

关键词： Drilling Support vector machines Employee welfare Chaos Geology Clustering methods Clustering algorithms Benchmark testing Data models Optimization

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Research on Urban Air Quality Prediction Method Based on the Fusion of Wide-area Spatiotemporal Distribution Data

Research on Urban Air Quality Prediction Method Based on the...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Zixing Tao Weihua Cao Chao Gan School of Future Technology China University of Geosciences (Wuhan) Wuhan China School of Future Technology School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences (Wuhan) Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

Air quality data exhibit nonlinearity, sensitivity to environmental factors, and long-term dependencies. Numerous factors influence air quality, making accurate predictions based on a single-dimensional dataset impractical. This study proposes a method for urban air quality prediction that integrates wide-area spatiotemporal data, designed to address the unique characteristics of air quality datasets. First, relevant wide-area spatiotemporal data are selected, and their correlations with air quality are systematically analyzed. Second, a Long Short-Term Memory (LSTM) network-based Transformer model is utilized to capture the long-term dependencies in the air quality sequences. Finally, the model successfully generates hourly multi-step predictions for six air pollutants. The experimental results show that the proposed method outperforms the method that relies on air quality data alone for multi-step air quality prediction.

关键词： Deep learning Sensitivity Atmospheric modeling Time series analysis Predictive models Air quality Transformers Environmental factors Spatiotemporal phenomena Long short term memory

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Task Assignment Scheme Designed for Online Urban Sensing Based on Sparse Mobile Crowdsensing

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IEEE Internet of Things Journal 2025年第11期12卷 17791-17806页

作者： Hongjian Zeng Yonghua Xiong Jinhua She Anjun Yu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Operation Management Department Jiangxi Ganyue Expressway Company Ltd. Nanchang Jiangxi China

Sparse mobile crowdsensing (SMCS) achieves urban-scale environmental sensing by assigning tasks to workers in specific subareas and inferring global data from the collected information. However, the effectiveness of SMCS is often limited because many studies overlook workers’ mobility and data collection time during subarea selection, as well as the time constraints of the sensing cycle in task assignment. This may affect the task completion timeliness and data quality. To address these issues, we develop a subarea evaluation method based on deep reinforcement learning, considering both the temporal effectiveness of sensing tasks and the importance of subarea selection for data inference. Using the subarea evaluation values derived from this method, we establish an online urban sensing task assignment model which is subject to constraints of sensing cycle time and cost budget. This model aims to find the task assignment result that minimizes data inference error by maximizing the comprehensive utility value. Considering the characteristics of the task assignment model, we propose an evolutionary algorithm named OTA-EA, which is based on an improved genetic algorithm. Its enhanced evolutionary operators can avoid generating infeasible solutions while maintaining robust search and optimization performance. Lastly, we conduct experimental evaluations of these methods on the real-world datasets. The results demonstrate that our subarea evaluation method can significantly reduce the data inference error, and our evolutionary task assignment algorithm can achieve better task assignment results than the baseline algorithms.

关键词： Sensors Costs Time factors Data collection Crowdsensing Evolutionary computation Data integrity Optimization Inference algorithms Mobile computing

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Design and development of a new autonomous transportation robot for finished vehicles docking transportation in RO/RO logistics terminal

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advanced Engineering Informatics 2025年 66卷

作者： Xu, Yongkang Zhang, Lin Liu, Zhi Wang, Shoukun Wang, Junzheng State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

With the continuous growth of the automobile trade, the inefficiency of traditional cargo transshipment in Roll-On/Roll-Off (RO/RO) terminals has become increasingly pronounced. As a result, the adoption of autonomous transportation robot (ATR) for the automatic handling of finished vehicles has seen significant growth. However, ATRs designed for this purpose face several limitations, including suboptimal mobility performance and the necessity for additional infrastructure to support their operation. This paper introduces a novel ATR that offers enhanced flexibility and operational capability. To further optimize the positioning of LiDAR, we develop a multi-stage LiDAR fusion algorithm for the precise localization of finished vehicles, incorporating an event-triggered decision-making approach to improve positioning accuracy. Based on the accurate positioning data, we propose a docking strategy consisting of two key phases: the approach phase and the docking phase. During the docking phase, an enhanced Model Predictive control (MPC) algorithm, integrated with a Radial Basis Function (RBF) neural network, is designed to enable real-time adjustment of the robot's docking attitude. The effectiveness of the proposed approach is validated through real-world robot experimentals demonstrating its practical viability. © 2025

关键词： Autonomous vehicles

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Hand Gesture Recognition from an Open-Set Perspective

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IEEE Transactions on Multimedia 2025年

作者： Zhou, Jun Xu, Chi Cheng, Li China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Vision and Learning Laboratory Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada

Existing hand gesture recognition methods predominantly rely on a close-set assumption, which in essence limits the viewpoints, gesture categories, and hand shapes at test time to closely resemble those seen during training. This requirement is however rarely met in practice, as images are often captured from unconstrained viewpoints, with novel gestures and unseen hand shapes that can differ significantly from the training data. This motivates us to investigate an open-set hand gesture recognition problem, where hand gestures are still recognizable from unconstrained viewpoints, and novel gesture classes and hand shapes can be incrementally learned with just a few examples. To address this, we propose a viewpoint influence elimination network that extracts view-independent features, significantly improving performance in scenarios with unconstrained viewpoints. Moreover, a joint-weighted classification scheme is introduced to augment the cosine similarity metric for evaluating few-shot incremental learning of novel gestures and shapes. Finally, as existing hand gesture recognition datasets primarily adhere to the close-set assumption, a new hand gesture recognition dataset, OHG, is introduced in this paper, that includes a wide range of viewpoints, diverse gesture classes, and distinct hand shapes. Experimental hand gesture recognition results demonstrate the superior performance of our approach in both unconstrained viewpoint and few-shot incremental learning scenarios. The source code and the OHG dataset are to be made available at https://***/zhoujun-7/OSHGR. © 1999-2012 IEEE.

关键词： Palmprint recognition

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GCN-Transformer Autoencoder with Knowledge Distillation for Unsupervised Video Anomaly Detection

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Journal of advanced Computational Intelligence and intelligent Informatics 2025年第3期29卷 659-667页

作者： Yan, Mingchao Xiong, Yonghua She, Jinhua School of Automation China University of Geosciences No.388 Lumo Road Hongshan District Hubei Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems No.388 Lumo Road Hongshan District Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education No.388 Lumo Road Hongshan District Hubei Wuhan430074 China School of Engineering Tokyo University of Technology 1404-1 Katakura Hachioji Tokyo192-0982 Japan

Video anomaly detection is crucial in intelligent surveillance, yet the scarcity and diversity of abnormal events pose significant challenges for supervised methods. This paper presents an unsupervised framework that integrates graph attention networks (GATs) and Transformer architectures, combining masked autoencoders (MAEs) with self-distillation training. GATs are utilized to model spatial and inter-frame relationships, while Transformers capture long-range temporal dependencies, overcoming the limitations of traditional MAE and self-distillation approaches. The model employs a two-stage training process: first, a lightweight MAE combined with a GAT-Transformer fusion constructs a knowledge distillation module;second, the student autoencoder is optimized by integrating a graph convolutional autoencoder and a classification head to identify synthetic anomalies. We evaluate the proposed method on three representative datasets—ShanghaiTech Campus, UBnormal, and UCSD Ped2—and achieve promising results. © Fuji Technology Press Ltd.

关键词： Network coding

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