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Cognitive-based framework for detecting and diagnosing broken bars in induction motors for industry maintenance 基于认知的感应电机断条检测与诊断框架
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-28 DOI: 10.1016/j.jii.2025.101022
Narco Afonso Ravazzoli Maciejewski , Roberto Zanetti Freire , Anderson Luis Szejka , Thiago de Paula Machado Bazzo , Sofia Moreira de Andrade Lopes , Rogério Andrade Flauzino
Three-phase induction motors are the primary actuators for converting electrical energy into mechanical energy in the productive sector, constituting key assets due to their widespread use and critical function. Reducing maintenance costs and implementing predictive techniques incentivize the development of systems to identify intrinsic defects. The increasing demand for customization in manufacturing affects maintenance due to fast production line adaptations. This leads to unforeseen failures that compromise reliability. There is a lack of research on detecting and diagnosing faults in induction motors under intermittent drives or varying operating conditions. To fill this gap, the present research proposes a methodology for recommending algorithms to diagnose and detect broken bar defects in three-phase induction motors during transient operation based on a cognitive system. The framework explains and detects fault causality. Using experimental data (current, voltage, vibration), three-phase induction motors were tested under normal conditions, applying various severities of broken bar faults with load torque variations. Features were extracted from each signal, and feature selection algorithms of different mathematical natures were applied. Machine learning models were built, validated, and tested with multicriteria measures. To assess robustness, white noise was inserted into the experimental signals. The Consistency-Based Filter algorithm emerged as the most suitable for feature selection combined with Random Forest and Multilayer Perceptron models. The best results were achieved with up to 80 % noise tolerance without compromising predictive capacity for diagnosing defect severity. Features following a Gaussian distribution showed better predictive capacity, resulting in a reliable framework for fault diagnosis in induction motors.
三相感应电动机是生产部门将电能转化为机械能的主要执行器,由于其广泛的应用和关键的功能,构成了关键资产。降低维护成本和实现预测技术激励系统开发以识别内在缺陷。由于生产线的快速适应,制造业对定制化需求的不断增长影响了维护。这会导致无法预料的故障,从而降低可靠性。对于异步电动机在间歇驱动或变工况下的故障检测与诊断,目前还缺乏相关的研究。为了填补这一空白,本研究提出了一种基于认知系统的推荐算法来诊断和检测三相异步电动机在瞬态运行过程中的断条缺陷。该框架解释和检测故障因果关系。利用实验数据(电流、电压、振动),在正常情况下,对三相异步电动机进行了不同程度的断条故障和负载转矩变化的测试。从每个信号中提取特征,并应用不同数学性质的特征选择算法。机器学习模型的建立、验证和测试采用多标准措施。为了评估鲁棒性,在实验信号中插入白噪声。基于一致性的滤波算法与随机森林和多层感知机模型相结合,成为最适合特征选择的算法。在不影响诊断缺陷严重程度的预测能力的情况下,获得了高达80%的噪声容忍度的最佳结果。服从高斯分布的特征具有较好的预测能力,为异步电动机故障诊断提供了可靠的框架。
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引用次数: 0
The interplay of data-driven insights and AI anxiety in shaping the impact of AI capabilities on circular economy capability 数据驱动的洞察力和人工智能焦虑在塑造人工智能能力对循环经济能力的影响中的相互作用
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-24 DOI: 10.1016/j.jii.2025.101019
Robinson Garcés-Marín , José Arias-Pérez , Camilo Restrepo-Estrada
In a world facing pressing environmental challenges like climate change and resource scarcity, Artificial Intelligence (AI) is widely regarded as a powerful tool to enhance and support sustainability goals via Circular Economy Capability (CEC). The organizational capacity to leverage this technology, Artificial Intelligence Capability (AIC), is conceptualized through the lens of the Resource-Based Theory (RBT) as the capacity to effectively implement and utilize AI to generate strategic value. However, the direct relationship between AIC and CEC is not straightforward. The purpose of this research is to investigate this nuanced relationship by examining how socio-technical factors such as Data-Driven Insights (DDI)—actionable inferences derived from analytics over data—and AI Anxiety—stemming from employees' fear of job loss—shape the relationship between AIC and CEC. Using a moderated mediation model and Partial Least Squares Structural Equation Modeling (PLS-SEM), we analyzed data from firms with moderate to high technology maturity. While the study’s results are primarily based on context-specific evidence, which invites further investigation into generalizability to other settings, our findings suggest that the direct effect of AIC on CEC is not significant. Instead, DDI significantly mediate the relationship, confirming that AIC must be bundled with actionable insights to create value. Crucially, AI anxiety negatively moderates the effect of DDI on CEC. This means that while organizations may generate valuable insights, employee resistance and fear hinder their effective translation into sustainability practices. This study highlights the critical socio-technical barriers to AI adoption and their impact on achieving sustainability goals.
在面临气候变化和资源短缺等紧迫环境挑战的世界,人工智能(AI)被广泛认为是通过循环经济能力(CEC)增强和支持可持续发展目标的有力工具。利用这种技术的组织能力,即人工智能能力(AIC),通过资源基础理论(RBT)的视角被概念化为有效实施和利用人工智能产生战略价值的能力。然而,AIC和CEC之间的直接关系并不简单。本研究的目的是通过研究社会技术因素(如数据驱动的见解(DDI)——从数据分析中得出的可操作推论——和人工智能焦虑——源于员工对失业的恐惧——如何塑造AIC和CEC之间的关系,来调查这种微妙的关系。采用有调节的中介模型和偏最小二乘结构方程模型(PLS-SEM),我们分析了中高技术成熟度企业的数据。虽然该研究的结果主要基于特定情境的证据,但我们的研究结果表明,AIC对CEC的直接影响并不显著。相反,DDI在很大程度上调解了这种关系,证实了AIC必须与可操作的见解捆绑在一起才能创造价值。关键是,AI焦虑负向调节DDI对CEC的影响。这意味着,虽然组织可能产生有价值的见解,但员工的抵制和恐惧阻碍了它们有效地转化为可持续发展实践。本研究强调了人工智能采用的关键社会技术障碍及其对实现可持续发展目标的影响。
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引用次数: 0
Harnessing collective intelligence of multi-agent LLM systems for sensor failure reasoning in smart manufacturing 利用多智能体LLM系统的集体智能进行智能制造中的传感器故障推理
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-21 DOI: 10.1016/j.jii.2025.101012
Wei Gong , Shuang Qiao , Chenhong Cao , Shilei Tan , Junliang Ye , Haoxiang Liu , Si Chen , Xuesong Wang
In smart manufacturing, accurate sensor fault diagnosis is essential for operational integrity. However, the direct application of Large Language Models (LLMs) to this task yields unstructured analyses and inefficient resource use. To address these challenges, we propose a novel multi-agent framework that instills a structured, modular, and adaptive reasoning process. The framework features a Reasoning Module to classify problem complexity and a Decision Module that employs a difficulty-aware workflow. Simple problems are resolved directly, while complex cases activate a deliberative debate among multiple agents to form a consensus. Evaluated on the specialized FailureSensorIQ benchmark, our framework significantly boosts the performance of open-source LLMs. For example, Llama3.1-8B-instruct’s accuracy surged from 36.5% to 54.6%—an 18.1 percentage point improvement. Crucially, our method empowers smaller 7B/8B models to surpass larger, proprietary models like GPT-4o-mini. Ablation studies validate that our dynamic routing mechanism provides an optimal trade-off between diagnostic accuracy and computational cost. This work establishes a new paradigm for industrial fault diagnosis, improving accuracy, interpretability, and resource efficiency, thereby paving the way for reliable and accessible AI in critical manufacturing systems.
在智能制造中,准确的传感器故障诊断对操作完整性至关重要。然而,将大型语言模型(llm)直接应用于此任务会产生非结构化的分析和低效的资源使用。为了应对这些挑战,我们提出了一个新的多智能体框架,它灌输了一个结构化、模块化和自适应的推理过程。该框架的特点是推理模块对问题的复杂性进行分类,决策模块采用困难感知工作流。简单的问题直接解决,而复杂的情况则激活多个主体之间的协商辩论,形成共识。在专门的FailureSensorIQ基准测试上进行评估后,我们的框架显著提高了开源llm的性能。例如,llama3.1 - 8b指令的准确率从36.5%上升到54.6%,提高了18.1个百分点。至关重要的是,我们的方法使较小的7B/8B模型能够超越像gpt - 40 -mini这样的大型专有模型。消融研究证实,我们的动态路由机制提供了诊断准确性和计算成本之间的最佳权衡。这项工作为工业故障诊断建立了一个新的范例,提高了准确性、可解释性和资源效率,从而为关键制造系统中可靠和可访问的人工智能铺平了道路。
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引用次数: 0
An anonymization framework for IEC 61850 substation communications: Field-level and topology-aware privacy IEC 61850变电站通信的匿名化框架:现场级和拓扑感知隐私
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-19 DOI: 10.1016/j.jii.2025.101013
Soheil Shirvani , Emmanuel D. Buedi, Kwasi Boakye-Boateng, Yoonjib Kim, Rongxing Lu , Ali A. Ghorbani
Substation datasets, like those using the IEC61850 standard, hold sensitive information about power flows, equipment statuses, and network configurations. This data could expose vulnerabilities to knowledge-based cyberattacks, making utility providers hesitant to share it publicly for research. While encryption enhances security, it often diminishes the dataset’s utility for research purposes. To address the trade-off between security and utility, we introduce an anonymization technique specifically for the IEC61850 standard, demonstrated on the GOOSE protocol. Our method involves two main approaches: anonymizing sensitive and quasi-identifying fields within packets to preserve data utility, and injecting dummy packets using one of our proposed algorithms to effectively obscure network topology. Using the first method, we publish an anonymized dataset derived from substation communications captured in our testbed to support ongoing research. We evaluated the framework’s effectiveness through a comprehensive communication pattern analysis, including time, flow, statistical, and entropy analyses, and field anonymization testing. Our study highlights the critical importance of maintaining privacy in substation data sharing while ensuring data remains useful for research, setting the foundation for extending this framework across multiple substation protocols in future studies.
与使用IEC61850标准的变电站数据集一样,变电站数据集包含有关潮流、设备状态和网络配置的敏感信息。这些数据可能暴露出基于知识的网络攻击的漏洞,使公用事业供应商不愿公开分享这些数据进行研究。虽然加密增强了安全性,但它通常会降低数据集的研究效用。为了解决安全性和实用性之间的权衡,我们介绍了一种专门针对IEC61850标准的匿名化技术,并在GOOSE协议上进行了演示。我们的方法包括两种主要方法:匿名化数据包中的敏感和准识别字段以保持数据效用,以及使用我们提出的算法之一注入虚拟数据包以有效地模糊网络拓扑。使用第一种方法,我们发布了一个匿名数据集,该数据集来自我们测试台上捕获的变电站通信,以支持正在进行的研究。我们通过全面的通信模式分析来评估框架的有效性,包括时间、流量、统计和熵分析,以及现场匿名化测试。我们的研究强调了维护变电站数据共享隐私的重要性,同时确保数据对研究有用,为在未来的研究中跨多个变电站协议扩展该框架奠定了基础。
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引用次数: 0
LLM-MTMP: A large language model-based multi-agent task and motion planning framework for power inspection robots LLM-MTMP:基于大语言模型的电力巡检机器人多智能体任务和运动规划框架
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-18 DOI: 10.1016/j.jii.2025.101014
Zongyuan Wang , Xin Zhou , Jianliang Mao , Chuanlin Zhang , Chenggang Cui , Jun Yang
Manually designing robotic task sequences is labor intensive and inefficient, especially in power inspection tasks that involve academic background knowledge and complex operation rules. To overcome this limitation, this paper presents a large language model-based multi-agent task and motion planning framework, LLM-MTMP, to enable autonomous human–robot interaction and task execution of robot in power inspection scenarios. It combines enhanced resource generation technology with a specific knowledge base in the field of power inspection, converting and decomposing natural language into a set of operation sequences that are readable by robots, thereby enabling autonomous inspection operations that meet specific industrial requirements. Experimental results from physical deployments on robotic platforms demonstrate that LLM-MTMP significantly improves task generation success rates and expands operational adaptability compared to baseline methods, highlighting its practical value for industrial applications.
人工设计机器人任务序列劳动强度大,效率低,特别是在涉及学术背景知识和复杂操作规则的电力巡检任务中。为了克服这一限制,本文提出了一种基于大型语言模型的多智能体任务和运动规划框架LLM-MTMP,以实现电力巡检场景中机器人的自主人机交互和任务执行。它将增强的资源生成技术与电力检测领域的特定知识库相结合,将自然语言转换并分解为一组机器人可读的操作序列,从而实现满足特定工业要求的自主检测操作。机器人平台物理部署的实验结果表明,与基线方法相比,LLM-MTMP显著提高了任务生成成功率,扩展了操作适应性,突出了其在工业应用中的实用价值。
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引用次数: 0
An IoV data imputation-fusion bus mass estimation framework based on triple dependency and multi-source information fusion networks 基于三依赖多源信息融合网络的车联网数据融合总线质量估计框架
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-18 DOI: 10.1016/j.jii.2025.101017
Zhengzhong Zheng , Shijiang Li , Liang Hou , Haojing Lin , Jiancheng Chen
Accurate bus mass estimation is crucial for safety and efficiency. However, existing approaches often exhibit limited accuracy when applied to Internet of Vehicles (IoV) data, primarily due to the low sampling rates in practical scenarios. To address this challenge, a framework is proposed for bus mass estimation using IoV data. It focuses on data imputation and information fusion. A Triple Dependency Network (TDN) is developed to impute missing data. TDN captures both temporal dependencies and variable correlations in low-sampling-rate sequences. Then, a Multi-Source Information Fusion Network (MSIFN) is introduced to integrate both original and imputed data. MSIFN enhances the accuracy and robustness of bus mass estimation. Experimental results on both real-world IoV and simulation datasets demonstrate that the proposed approach significantly improves mass estimation accuracy compared to existing methods, while effectively utilizing low-sampling-rate data and reducing data acquisition burdens. These results highlight the method's effectiveness and practical value for industrial applications.
客车质量的准确估算对安全、高效运行至关重要。然而,现有方法在应用于车联网(IoV)数据时往往表现出有限的准确性,主要是由于实际场景中的低采样率。为了解决这一挑战,提出了一个使用车联网数据进行总线质量估计的框架。它着重于数据输入和信息融合。提出了一种三依赖网络(Triple Dependency Network, TDN)来弥补缺失数据。TDN捕获低采样率序列中的时间依赖性和变量相关性。然后,引入多源信息融合网络(MSIFN)对原始数据和输入数据进行融合。MSIFN提高了母线质量估计的准确性和鲁棒性。在实际车联网和仿真数据集上的实验结果表明,与现有方法相比,该方法显著提高了质量估计精度,同时有效地利用了低采样率数据,减少了数据采集负担。这些结果突出了该方法的有效性和工业应用的实用价值。
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引用次数: 0
A distributed extended reality escape method for layered underground infrastructure based on AI game engine 基于AI游戏引擎的分层地下基础设施分布式扩展现实逃生方法
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-16 DOI: 10.1016/j.jii.2025.101015
Wei Li , Linbing Wang , Maogui Sun , Dengcai Yin , Yajian Wang , Xiang Zhou , Yongming Wang , Zhoujing Ye
As the structural carrier of mineral resources, underground mine is a typical artificial large layered underground infrastructure. The safety of mining systems remains a critical concern for nations worldwide. Based on the environmental characteristics of underground mines, the accompanying safety issues are evident. Conventional personnel evacuation drills for mine disasters often fail to create effective disaster evolution memories for people. When a real accident occurs, people cannot escape efficiently in a panic state, which reduces survival probability. To solve this problem, an escape space connection algorithm is developed based on the physical information and management rules in this study, and it is used to drive the extended reality escape system by the game engine. Firstly, this study takes the water-inrush accidents of underground layered mines as the engineering research object and background, the characteristics of water-inrush accidents evolution and personnel evacuation are systematically analyzed based on the scenario construction theory. Secondly, this study develops an escape space connection algorithm by integrating the two-dimensional A* algorithm and the connection weights of escape spaces based on the spatial geometric information and escape strategy of layered mines. Thirdly, a distributed extended reality (XR) human-computer interaction system is developed for escape path guidance in real environments based on the spatial structure characteristics of layered mines and the escape space connection algorithm. Finally, application testing is conducted in the experimental mine to analyze the system performance and future application potential. This study provides a comprehensive technical framework for personnel evacuation in layered underground infrastructure during evolutionary accidents, and the theories and systems involved are universal. In addition, this method can be used as a new, low-cost and efficient digital reference system for personnel safety emergency drills in underground infrastructure.
地下矿山作为矿产资源的结构载体,是典型的人工大型层状地下基础设施。采矿系统的安全仍然是世界各国关切的一个重大问题。根据地下矿山的环境特点,伴随而来的安全问题是显而易见的。传统的矿难人员疏散演练往往不能为人们创造有效的灾害演化记忆。当真正发生事故时,人们在恐慌状态下无法有效逃生,降低了生存概率。为解决这一问题,本研究开发了一种基于物理信息和管理规则的逃生空间连接算法,并通过游戏引擎驱动扩展现实逃生系统。首先,本研究以地下分层矿山突水事故为工程研究对象和背景,基于场景构建理论系统分析了突水事故演化和人员疏散的特征。其次,基于层状矿山的空间几何信息和逃生策略,将二维A*算法与逃生空间的连接权值相结合,开发了逃生空间连接算法。第三,基于层状矿井空间结构特点和逃生空间连接算法,开发了面向真实环境的分布式扩展现实(XR)逃生路径引导人机交互系统。最后在实验矿山进行了应用测试,分析了系统的性能和未来的应用潜力。本研究为演化事故中分层地下基础设施人员疏散提供了一个全面的技术框架,所涉及的理论和系统具有普遍性。该方法可作为地下基础设施人员安全应急演练的一种新型、低成本、高效的数字参考系统。
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引用次数: 0
Category-controllable and high-fidelity 3D defect synthesis for Embodied Intelligence-based industrial inspection 面向具体智能工业检测的类别可控高保真三维缺陷综合
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-15 DOI: 10.1016/j.jii.2025.101016
Ting Li , Di Li , Chunhua Zhang , Peng Chi , Ziren Luo
Embodied Intelligence (EI) integrates perception, cognition, and action within manufacturing systems, enabling on-device learning and human-machine collaboration. For surface defect inspection, this requires real-time reasoning over subtle 3D geometries and continuous self-improvement using high-quality training data. However, current point cloud generation methods fall short in synthesizing 3D defects due to inefficient single-class generation, lack of pixel-level annotations, and poor diversity. We propose Category-Controllable and High-Fidelity Generative Adversarial Network (CFGAN) to address these issues. CFGAN generates paired RGB and depth defect images with controllable categories and pure backgrounds, enabling multi-class synthesis and facilitating pixel-level annotation. A gradient-adaptive Poisson fusion method ensures seamless blending of generated RGB and depth defects into normal backgrounds, while domain transfer and depth mapping modules are further applied to preserve the consistency and reliability of the generated depth. Moreover, by sampling random latent codes, CFGAN produces diverse defect samples. Finally, spatial alignment of defect images maps 2D features into 3D space, resulting in realistic defect point clouds. The effectiveness of the proposed method is validated through experiments on fruit, metal, and plastic objects. In addition, our framework enables zero-shot inspection by transferring defects across datasets with different backgrounds but similar defects, achieving an Overall Accuracy of 0.9736. Our work provides diverse, well-annotated point cloud defects, enhancing the adaptability and autonomy of EI inspection systems.
具身智能(EI)集成了感知、认知和制造系统中的行动,实现了设备上的学习和人机协作。对于表面缺陷检测,这需要对细微的3D几何图形进行实时推理,并使用高质量的训练数据进行持续的自我改进。然而,目前的点云生成方法由于单类生成效率低、缺乏像素级注释、多样性差等原因,在合成三维缺陷方面存在不足。我们提出了类别可控和高保真生成对抗网络(CFGAN)来解决这些问题。CFGAN生成具有可控类别和纯背景的RGB和深度缺陷配对图像,实现多类别合成,便于像素级标注。采用梯度自适应泊松融合方法将生成的RGB缺陷和深度缺陷无缝融合到正常背景中,并进一步应用域转移和深度映射模块来保持生成深度的一致性和可靠性。此外,通过对随机潜在码进行采样,CFGAN产生了多种缺陷样本。最后,对缺陷图像进行空间对齐,将二维特征映射到三维空间,得到逼真的缺陷点云。通过水果、金属和塑料物体的实验验证了该方法的有效性。此外,我们的框架通过在具有不同背景但相似缺陷的数据集之间转移缺陷来实现零射击检查,实现了0.9736的总体精度。我们的工作提供了多样化、良好注释的点云缺陷,增强了EI检测系统的适应性和自主性。
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引用次数: 0
Physics-informed continuous-time reinforcement learning with data-driven approach for robotic arm manipulation 基于物理信息的连续时间强化学习与数据驱动的机械臂操作方法
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-11 DOI: 10.1016/j.jii.2025.101008
Jin-Qiang Wang , Lirong Song , Jun Shen , Binbin Yong , Xiaoteng Han , Yuanbo Jiang , Mona Raoufi , Qingguo Zhou
Deep reinforcement learning (DRL) plays a crucial role in complex sequential decision-making tasks. However, existing data-driven DRL methods primarily rely on an empirical risk minimization (ERM) strategy to fit optimal value function models. This approach often neglects the environment’s dynamical system properties, which in turn leads to an inadequate consideration of the structural risk minimization (SRM) strategy. To address this limitation, this paper proposes a physics-informed continuous-time reinforcement learning (PICRL) to validate model effectiveness from both ERM and SRM perspectives. Specifically, we begin by theoretically analyzing the mechanism of SRM in reinforcement learning models. Then, physics information is integrated into both discrete and continuous reinforcement learning algorithms for comparative experiments. Finally, we systematically examine the effects of various physics-informed and boundary constraints on these two learning frameworks. Experimental results on the PandaGym demonstrate that the proposed method achieves comparable or superior performance in both discrete and continuous-time reinforcement learning frameworks. This provides strong evidence for its significant advantages in learning control policies for dynamical systems with small time intervals.
深度强化学习(DRL)在复杂的序列决策任务中起着至关重要的作用。然而,现有的数据驱动DRL方法主要依靠经验风险最小化(ERM)策略来拟合最优价值函数模型。这种方法往往忽略了环境的动力系统特性,从而导致对结构风险最小化(SRM)策略的考虑不足。为了解决这一限制,本文提出了一种物理信息的连续时间强化学习(PICRL),从ERM和SRM的角度验证模型的有效性。具体来说,我们从理论上分析SRM在强化学习模型中的机制开始。然后,将物理信息集成到离散和连续强化学习算法中进行对比实验。最后,我们系统地研究了各种物理信息和边界约束对这两种学习框架的影响。在PandaGym上的实验结果表明,该方法在离散时间和连续时间强化学习框架中都取得了相当或更好的性能。这为其在小时间间隔动态系统的控制策略学习方面的显著优势提供了强有力的证据。
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引用次数: 0
From brain to reflex: An emergency response control architecture for embodied intelligent robots 从大脑到反射:嵌入式智能机器人的应急响应控制体系结构
IF 10.4 1区 计算机科学 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Pub Date : 2025-11-10 DOI: 10.1016/j.jii.2025.101010
Cheng Wang , Shiyong Wang , Wujie Zhang , Min Xia , Zhenfeng Shi
The perception-control-execution layered architecture, commonly used in current embodied intelligent robot control systems, suffers from inherent latency caused by its serial processing mechanism, which limits a robot's ability to respond to sudden disturbances, such as falls and collisions. To overcome this bottleneck, this study proposes a biomimetic emergency response control architecture for embodied intelligent robots. This architecture is inspired by the collaborative control principles of higher-level central control and spinal reflex mechanisms in the human nervous system. In addition, this architecture decouples the process of conventional decision-making and planning from emergency response mechanisms, thus constructing a four-layer heterogeneous control framework containing a perception-planning layer, a motion control layer, an emergency response layer, and a physical execution layer. The perception-planning layer is responsible for scene understanding and long-term planning. The motion control layer performs precise control of the entire body's posture and motion trajectory. The emergency response layer transmits upper-layer control commands under normal conditions, achieving fine motion control. In the event of sudden disturbances, the emergency response layer receives sensor signals directly, without waiting for the perception and decision results of the perception-planning layer. A lightweight, online-learnable reflex rule base, such as a balance compensation mechanism based on contact force mutation thresholds, enables rapid response to sudden disturbances. The emergency response layer is used as an independent module in the embodied intelligent control architecture, addressing the serial delay problem and offering an innovative solution for improving motion robustness and operational safety of robots in highly dynamic and uncertain environments.
当前嵌入式智能机器人控制系统中常用的感知-控制-执行分层结构,由于其串行处理机制导致的固有延迟,限制了机器人对突发干扰(如跌倒和碰撞)的响应能力。为了克服这一瓶颈,本研究提出了一种具身智能机器人的仿生应急响应控制体系结构。这种结构的灵感来自于人类神经系统中高级中枢控制和脊柱反射机制的协同控制原理。此外,该体系结构将传统的决策和规划过程与应急响应机制解耦,从而构建了一个包含感知规划层、运动控制层、应急响应层和物理执行层的四层异构控制框架。感知规划层负责场景理解和长期规划。运动控制层对整个身体的姿态和运动轨迹进行精确控制。应急响应层在正常情况下传输上层控制命令,实现精细运动控制。在突发干扰情况下,应急响应层直接接收传感器信号,无需等待感知规划层的感知和决策结果。一个轻量级的,在线可学习的反射规则库,如基于接触力突变阈值的平衡补偿机制,可以快速响应突然的干扰。应急响应层作为嵌入式智能控制体系结构中的独立模块,解决了串行延迟问题,为提高机器人在高动态和不确定环境中的运动鲁棒性和运行安全性提供了创新的解决方案。
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引用次数: 0
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Journal of Industrial Information Integration
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