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Control Structures and Algorithms for Force Feedback Bilateral Teleoperation Systems: A Comprehensive Review

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Computer Modeling in Engineering & Sciences 2025年第2期142卷 973-1019页

作者： Jiawei Tian Yu Zhou Lirong Yin Salman A.AlQahtani Minyi Tang Siyu Lu Ruiyang Wang Wenfeng Zheng department of Computer Science and Engineering Major in Bio Artificial IntelligenceHanyang UniversityAnsan-si15577Republic of Korea department of Geography and Anthropology Louisiana State UniversityBaton RougeLA 70803USA department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityRiyadh11574Saudi Arabia School of Automation University of Electronic Science and Technology of ChinaChengdu610054China

Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare *** paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current *** elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile *** this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of *** review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough ***,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote *** underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological *** research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous *** the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.

关键词： Force feedback bilateral teleoperation robot development history application prospect

Correction of laser sweeping nonlinearities using ultralow-loss on-chip 7 m spiral resonators

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Photonics Research 2025年第1期13卷 40-48页

作者： OSAMA TERRA WARREN JIN HUSSEIN KOTB JOEL GUO JOHN E.BOWERS department of Electrical and Computer Engineering University of California Primary Length and Laser technology Laboratory National Institute of Standards Anello Photonics department of Electronics and Electrical communication Engineering Faculty of EngineeringAin Shams University

Swept laser interferometry is an extremely powerful solution embedded in several recent technologies such as absolute distance measurement,light detection and ranging (LiDAR),optical frequency domain reflectometry,optical coherence tomography,microresonator characterization,and gas *** in the optical frequency sweeping of tunable lasers is a fatal drawback in gaining the expected outcome from these ***,we introduce an on-chip,millimeter-scale,7 m spiral resonator that is made of ultralow-loss Si3N4to act as a frequency ruler for correction of the tunable lasers sweeping *** sharp 2 MHz frequency lines of the 8.5×107high-quality factor resonator and the narrow-spaced 25.566 MHz frequency ticks of the 7 m spiral allow unprecedented precision for an on-chip solution to correct the laser sweeping *** measurements of the ruler’s frequency spacing,linewidth,and temperature and wavelength sensitivities of the frequency ticks are performed here to demonstrate the quality of the frequency *** addition,the spiral resonator is implemented in an frequency-modulated continuous-wave LiDAR experiment to demonstrate a potential application of the proposed on-chip frequency ruler.

关键词： Absolute distance measurement High power lasers Optical coherence tomography Optical frequency domain reflectometry Tunable diode lasers Tunable lasers

Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent Systems With Intermittent communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems Control theory Autonomous systems Stability

Hybrid DF and SIR Forwarding Strategy in Conventional and Distributed Alamouti Space-Time Coded Cooperative Networks

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Computer Modeling in Engineering & Sciences 2025年第2期142卷 1933-1954页

作者： Slim Chaoui Omar Alruwaili Faeiz Alserhani Haifa Harrouch department of Computer Engineering and Networks College of Computer and Information SciencesJouf UniversitySakaka72388Saudi Arabia Computer Science department Applied CollegeUniversity of HailHail55424Saudi Arabia

In this paper,we propose a hybrid decode-and-forward and soft information relaying(HDFSIR)strategy to mitigate error propagation in coded cooperative *** the HDFSIR approach,the relay operates in decode-and-forward(DF)mode when it successfully decodes the received message;otherwise,it switches to soft information relaying(SIR)*** benefits of the DF and SIR forwarding strategies are combined to achieve better performance than deploying the DF or SIR strategy ***-form expressions for the outage probability and symbol error rate(SER)are derived for coded cooperative communication with HDFSIR and energy-harvesting ***,we introduce a novel normalized log-likelihood-ratio based soft estimation symbol(NL-SES)mapping technique,which enhances soft symbol accuracy for higher-order modulation,and propose a model characterizing the relationship between the estimated complex soft symbol and the actual high-order modulated ***-more,the hybrid DF-SIR strategy is extended to a distributed Alamouti space-time-coded cooperative *** evaluate the~performance of the proposed HDFSIR strategy,we implement extensive Monte Carlo simulations under varying channel *** demonstrate significant improvements with the hybrid technique outperforming individual DF and SIR strategies in both conventional and distributed Alamouti space-time coded cooperative ***,at a SER of 10^(-3),the proposed NL-SES mapping demonstrated a 3.5 dB performance gain over the conventional averaging one,highlighting its superior accuracy in estimating soft symbols for quadrature phase-shift keying modulation.

关键词： Cooperative communication soft information relaying soft symbols modeling cooperative diversity gain distributed Alamouti space-time code

A robust multi-VSGs coordinated control strategy for distributed secondary frequency regulation in islanded microgrids

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Science China Technological Sciences 2025年第3期68卷 335-352页

作者： Jing ZHANG Yong LI Jinjie LIN Sijia HU Yijia CAO Fang LIU Mingmin ZHANG Li HE College of Electrical and information Engineering Hunan University Greater Bay Area Institute for Innovation Hunan University College of information Science and Engineering Central South University College of Electronic information and Electrical Engineering Changsha University College of information and Electrical Engineering Hunan University of Science and Technology

Islanded microgrids(IMGs) offer a viable and efficient energy self-sustaining solution for distributed resources in remote areas. While without utility grid support, the frequency of IMG is susceptible to mismatches between demand and generation. Moreover, IMGs encounter uncertain and nonlinear load disturbances together with system parameter perturbation,which further compromises frequency stability. To this aim, this paper proposes a robust multi-virtual synchronous generators(multi-VSGs) coordinated control strategy for distributed secondary frequency regulation(DSFR) in IMGs, which exhibits minimal model dependency and avoids reliance on global information. Two critical methods are developed:(1) a robust VSG control framework that incorporates the linear active disturbance rejection control(LADRC) technique, which enables the estimation and effective elimination of uncertain load disturbances and system's parameter perturbations;(2) a novel secondorder consensus algorithm-based control law for robust secondary frequency regulation, which is featured with proper power sharing among different participants, suppressed power oscillation caused by response disparities, and reduced reliance on complex communication system. Building on methods(1) and(2), a novel multi-VSGs coordinated control strategy is proposed, providing a robust solution for IMG's frequency restoration, and its dynamic characteristics are explored in detail. The correctness and effectiveness of the proposal are verified by both simulation and the hardware-in-the-loop(HIL) experiment results across typical scenarios.

关键词： islanded microgrid (IMG) distributed secondary frequency regulation (DSFR) robust multi-VSGs coordinated control linear active disturbance rejection control (LADRC)

A violence detection method based on deep and shallow feature fusion

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Instrumentation 2025年

作者： Lin'en Liu Xuguang Zhang HangZhou Dianzi University The Communication Engineering Department

In the research of video-based violent behavior detection,the motion information in the video is vital for violence *** to highlight motion information in videos and integrate spatiotemporal information is an urgent problem that needs to be solved in violence *** this paper,we propose a deep learning architecture that integrates shallow features into deep features to strengthen the network's ability to express motion information at a deep *** enhance the weight of motion information in the network,we design a downsampling module to extract shallow features,fused with the deep features extracted by MobileNet's *** we constructed a channel attention module and introduced a Convolutional Long Short-Term Memory (ConvLSTM) *** two modules aim to redistribute network attention:the channel attention module focuses on channel-level information and the ConvLSTM module emphasizes temporal ***,we employ 3D convolution and global pooling to compress the feature sizes,fed into fully connected layers to perform violence *** are conducted on three publicly available standard datasets,achieving an accuracy rate of 91%on the surveillance video dataset RWF2000,97.5%on the Hockey fight dataset,and 100%on the movies ***,the proposed model demonstrates satisfactory performance in violence detection..

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An autonomous dynamic recovery technology for autonomous underwater vehicles based on unmanned surface vehicles

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Science China(Technological Sciences) 2025年第2期68卷 315-317页

作者： Yueying WANG Yiqi SHI Guanghui WEN Huaicheng YAN School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China department of Systems Science School of MathematicsSoutheast UniversityNanjing 210096China School of information Science and Engineering East China University of Science and TechnologyShanghai 200237China

Autonomous underwater vehicles(AUVs) have attracted considerable attention due to their vast potential applications, such as offshore oil exploration, underwater rescue, military reconnaissance, and marine scientific ... 详细信息

关键词： underwater autonomous battery

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Distinct MLT asymmetry of auroral kilometric radiation observed by the FAST satellite

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Earth and Planetary Physics 2025年第1期9卷 188-193页

作者： JiaWen Tang Sai Zhang FuLiang Xiao HongMing Yang Si Liu YiHua He Chang Yang YuYue Jin ZhouKun Deng Ping Li Archie James Johnston School of Physics and Electronic Sciences Changsha University of Science and TechnologyChangsha 410114China Hunan Province Higher Education Key Laboratory of Modeling and Monitoring on the Near-Earth Electromagnetic Environments Changsha University of Science and TechnologyChangsha 410114China School of Electrical and information Engineering Changsha University of Science and TechnologyChangsha 410114China

Auroral Kilometric Radiation (AKR) is a common radio emission,which can contribute to the magnetosphere-ionosphereatmosphere co u *** emissions have been observed in all magnetic planet magnetospheres of the solar *** this study,using observations from the FAST satellite from 30 August 1996 to 9 September 2001,the distribution of AKR in altitude=500-4500 km and invariant latitude (|ILAT|)=60°-80°has been analyzed.63045 AKR samples have been identified with~48%(52%) samples on the dayside (nightside).Of considerable interest,there is a distinct MLT asymmetry with the high occurrence rate in MLT=05-08 and 18-22(02-05 and 12-17) in the northern (southern) *** distinct MLT asymmetry is associated with the direction of Bxof the interplaneta ry magnetic *** addition,the occurrence rate on the nightside clearly increases as the AE^(*) index *** study further enriches the information and understanding of AKR in the magnetosphere as well as other similar radio emissions.

关键词： asymmetry auroral kilometric radiation interplanetary magnetic field

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Text-Image Feature Fine-Grained Learning for Joint Multimodal Aspect-Based Sentiment Analysis

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Computers, Materials & Continua 2025年第1期82卷 279-305页

作者： Tianzhi Zhang Gang Zhou Shuang Zhang Shunhang Li Yepeng Sun Qiankun Pi Shuo Liu School of Data and Target Engineering Information Engineering UniversityZhengzhou450001China information Engineering department Liaoning Provincial College of CommunicationsShenyang110122China School of Computer and Artificial Intelligence Zhengzhou UniversityZhengzhou450000China

Joint Multimodal Aspect-based Sentiment Analysis(JMASA)is a significant task in the research of multimodal fine-grained sentiment analysis,which combines two subtasks:Multimodal Aspect Term Extraction(MATE)and Multimodal Aspect-oriented Sentiment Classification(MASC).Currently,most existing models for JMASA only perform text and image feature encoding from a basic level,but often neglect the in-depth analysis of unimodal intrinsic features,which may lead to the low accuracy of aspect term extraction and the poor ability of sentiment prediction due to the insufficient learning of intra-modal *** this problem,we propose a Text-Image Feature Fine-grained Learning(TIFFL)model for ***,we construct an enhanced adjacency matrix of word dependencies and adopt graph convolutional network to learn the syntactic structure features for text,which addresses the context interference problem of identifying different aspect ***,the adjective-noun pairs extracted from image are introduced to enable the semantic representation of visual features more intuitive,which addresses the ambiguous semantic extraction problem during image feature ***,the model performance of aspect term extraction and sentiment polarity prediction can be further optimized and *** on two Twitter benchmark datasets demonstrate that TIFFL achieves competitive results for JMASA,MATE and MASC,thus validating the effectiveness of our proposed methods.

关键词： Multimodal sentiment analysis aspect-based sentiment analysis feature fine-grained learning graph convolutional network adjective-noun pairs