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A trajectory-level robot skill learning method based on fuzzy systems

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Underwater RGB-D imaging system with millimetric precision

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Science China(Information Sciences) 2024年第10期67卷 383-385页

作者： Yajun GAO Yang CONG Xu TANG Mingxue LI State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences College of Automation Science and Engineering South China University of Technology

In recent years, underwater fine three-dimensional reconstruction technology has emerged as a focal point in research, exhibiting extensive potential applications, particularly in underwater archaeology and resource e...

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Joint Probabilistic Scheduling and Resource Allocation for Wireless Networked Control Systems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 258-260页

作者： Meng Zheng Lei Zhang Wei Liang IEEE the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences the University of Chinese Academy of Sciences

Dear Editor,This letter presents a joint probabilistic scheduling and resource allocation method(PSRA) for 5G-based wireless networked control systems(WNCSs). As a control-aware optimization method, PSRA minimizes the linear quadratic Gaussian(LQG) control cost of WNCSs by optimizing the activation probability of subsystems, the number of uplink repetitions, and the durations of uplink and downlink phases. Simulation results show that PSRA achieves smaller LQG control costs than existing works.

关键词： Networked control systems

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Teleoperation with automatic posture regulation and broad learning control for assembly tasks

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Science China(Information Sciences) 2024年第11期67卷 359-360页

作者： Liwen SITU Zhenyu LU Chenguang YANG School of Automation Science and Engineering South China University of Technology Bristol Robotics Laboratory University of the West of England

In recent years, robot teleoperation systems have been widely used in assembly tasks due to their ability to combine human control with robotic execution, addressing limitations in precision, perception, and intelligence faced by fully automated robots. However, robot teleoperation for assembly tasks still encounters several challenges. In complex and unstructured environments, telerobots must regulate the posture of their manipulators to avoid obstacles and singularities, ensuring the safety of human operators [1].

关键词： Remote control

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Bio-syncretic robots composed of biological and electromechanical systems

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国家科学评论（英文版） 2023年第5期10卷 12-15页

作者： Chuang Zhang Jia Yang Wenxue Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesChina Institute for Robotics and Intelligent Manufacturing Chinese Academy of SciencesChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesChina Institute for Robotics and Intelligent Manufacturing Chinese Academy of SciencesChina University of Chinese Academy of Sciences China

After eons of evolution,biological systems have developed excellent perfor-mance in terms of sensing,intelligence,and actuation—the three primary robotics elements that are closely re-lated to the overall performance of robot *** example,the buccal pits of some snakes,as the necessary sensors for accurate predation,have a high-temperature sensitivity of 0.003 K[1];the biological brain can exhibit an excellent capacity for efficient learning and multitasking operations[2];and froghopper insects can leap to a height of more than 100 times their body length[3].Most of these biological system per-formances are difficult to realize with tra-ditional electromechanical systems.

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Efficient Nonnegative Tensor Decomposition Using Alternating Direction Proximal Method of Multipliers

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Chinese Journal of Electronics 2024年第5期33卷 1308-1316页

作者： Deqing WANG Guoqiang HU State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Marine Robotics Liaoning Province College of Artificial Intelligence Dalian Maritime University

Nonnegative CANDECOMP/PARAFAC（NCP） tensor decomposition is a powerful tool for multiway signal processing. The alternating direction method of multipliers（ADMM） optimization algorithm has become increasingly popular for solving tensor decomposition problems in the block coordinate descent framework. However,the ADMM-based NCP algorithm suffers from rank deficiency and slow convergence for some large-scale and highly sparse tensor data. The proximal algorithm is preferred to enhance optimization algorithms and improve convergence properties. In this study, we propose a novel NCP algorithm using the alternating direction proximal method of multipliers（ADPMM） that consists of the proximal algorithm. The proposed NCP algorithm can guarantee convergence and overcome the rank deficiency. Moreover, we implement the proposed NCP using an inexact scheme that alternatively optimizes the subproblems. Each subproblem is optimized by a finite number of inner iterations yielding fast computation speed. Our NCP algorithm is a hybrid of alternating optimization and ADPMM and is named *** experimental results on synthetic and real-world tensors demonstrate the effectiveness and efficiency of our proposed algorithm.

关键词： Tensors Neuroscience Signal processing algorithms Linearization techniques Signal processing Fluorescence Data processing

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An improved YOLOv3 model for detection of invasive Saccharomyces Cerevisiae infections

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Multimedia Tools and Applications 2025年第15期84卷 14605-14622页

作者： Li, Gongxin Li, Shuai Fang, Xing Luan, Xiaoli Liu, Fei Institute of Automation Jiangnan University Wuxi214122 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

Saccharomyces Cerevisiae (S. cerevisiae) is a fermenting strain that commonly used in the baking and brewing industries and also used as a probiotic for the prevention and treatment of various diarrhea and related diseases. However, cases of invasive S. cerevisiae infection due to the ingestion of S. cerevisiae have been increasing over the last two decades, especially in elderly, immunocompromised and critically ill patients. In addition, the currently methods used in clinical for the diagnosis of invasive S. cerevisiae infections are time-consuming and easily miss the optimal time for diagnosis and early prevention. Here, we propose an improved YOLOv3 model-based deep learning method to detect S. cerevisiae with higher efficient. The improved YOLOv3 model is derived from the YOLOv3 model by re-constructing its’ model structure with a lightweight network (GhostNet) and other related functions to improve the detection precision and efficiency, and the improved performances were experimentally validated on blood samples. Furthermore, the detection performance by the method was also experimentally compared with that by other several typical deep learning methods. The experimental results showed that the average precision and average detection time on a single image of the improved YOLOv3 model is 97.83% and 0.021 s, respectively, and the both indexes significantly outperform the other methods. The study provides a novel and potential method to detect invasive S. cerevisiae infection with higher precision and faster rate, and also offers a new approach for timely diagnosis and early prevention of the related diseases reduced by microorganism. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Yeast

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Theoretical Model Construction and Static Performance Analysis of Multi-Leaf Journal Foil Bearings

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Journal of Tribology 2025年第7期147卷 074101页

作者： Hu, Yang Ding, Pengjing School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200072 China

Multi-leaf journal foil bearing (MLJFB) structures are complex, making performance prediction challenging, and the accurate prediction of gas film thickness and pressure distributions is crucial. In this study, comsol finite-element software was used to establish an initial foil assembly and structural deformation simulation model for an MLJFB with bump foils. Using matlab, a compressible gas lubrication model was established and solved using the finite volume method. Real-time data transfer between comsol and matlab enabled a fully coupled fluid-structure interaction simulation. This model meticulously accounts for the pre-tension force in the multi-leaf bearing assembly, contact friction between adjacent foils, and the interaction between the top foil and gas film pressure. The effects of journal movement distance, direction, and top foil overlapping ratio on the bearing capacity as well as the effects of different external load directions on the journal equilibrium position were analyzed based on this model. The results indicate that increasing the top foil overlapping ratio enhances the bearing capacity of the MLJFB. Furthermore, compared to the direction of the top foil overlap position, external loads applied in the direction of the top foil midpoint are more beneficial for bearing operational stability. Copyright © 2024 by ASME.

关键词： MATLAB

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Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui Zhang Yaqi Chu Yiwen Zhao Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

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Modeling and analysis of elastic plane constraint on soft robots

Modeling and analysis of elastic plane constraint on soft ro...

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2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Deng, Zhaoyan Gao, Hongwei Chen, Peng Liu, Yuwang Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781510674608

Under the influence of unstructured environmental constraints, the spatial morphological changes in slender soft robots are primarily determined by the robot's force situation. Therefore, this paper focused on theoretically modeling and analyzing the static equilibrium problem of slender soft robots. The static mechanical model of the robot under unstructured elastic constraints was simplified, established, and computationally solved based on the theory of elastic rods. Simulation calculations for the model under General plane elastic constraints were conducted, providing an initial verification of the accuracy. © 2024 SPIE.

关键词： Robots

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