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| 1 | Survey of optimal motion planning显示文摘Optimal motion planning becomes more and more important these days and is critical for motion planning algorithms developed in the academia to be applicable to real-world applications.The objective of this article is to survey the current state-of-the-art on optimal motion planning algorithms in terms of their three main components:the decision variables and problem formulation,constraints,and objectives.A selection of proposed techniques is reviewed along with a discussion of their effectiveness and limitations.The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system-level design choices. | Yajue Yang Jia Pan Weiwei Wan | 2019 | IET Cyber-Systems and Robotics2019，1，1： | 4 |
| 2 | Gesture recognition for transhumeral prosthesis control using EMG and NIR显示文摘A key challenge associated with myoelectric prosthesis limbs is the acquisition of a good quality gesture intent signal from the residual anatomy of an amputee.In this study,the authors aim to overcome this limitation by observing the classification accuracy of the fusion of wearable electromyography(EMG)and near-infrared(NIR)to classify eight hand gesture motions across 12 able-bodied participants.As part of the study,they investigate the classification accuracy across a multi-layer perceptron neural network,linear discriminant analysis and quadratic discriminant analysis for different sensing configurations,i.e.EMG-only,NIR-only and EMG-NIR.A separate offline ultrasound scan was conducted as part of the study and served as a ground truth and contrastive basis for the results picked up from the wearable sensors,and allowed for a closer study of the anatomy along the humerus during gesture motion.Results and findings from the work suggest that it could be possible to further develop transhumeral prosthesis using affordable,ergonomic and wearable EMG and NIR sensing,without the need for invasive neuromuscular sensors or further hardware complexity. | Ejay Nsugbe Carol Phillips Mike Fraser Jess McIntosh | 2020 | IET Cyber-Systems and Robotics2020，2，3： | 3 |
| 3 | Survey of unmanned subterranean exploration,navigation,and localisation显示文摘Subsurface networks include mining tunnels,caves,and the urban underground.Each of these environments presents a complex setting with significant challenges in exploration,exploitation,etc.Multiple hazards exist,including environmental and structural,and conditions degrade and change temporally.We present a survey of research in autonomy,networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments.The focus is on mining tunnels as a proxy subterranean environment;motivated by the proximity of the authors to the Bonita Peak Mining District;a Superfund site consisting of 48 historic mines which have contaminated soil,groundwater and surface water with heavy metals as a result of historic practices.The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation.Arguably,the environment in question is the most extreme and challenging subterranean environment.Unmanned assets must enter to explore and re-map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation.The survey is split into three categories--Locomotion,GPS-denied navigation and localization,and Communication.It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine. | Jeffrey Martz Wesam Al-Sabban Ryan N.Smith | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 3 |
| 4 | Modified constrained adaptive formation control scheme for autonomous underwater vehicles under communication delays显示文摘The performance of a formation control algorithm for a group of autonomous underwater vehicles(AUVs)may be degraded due to communication constraints between the leader and the follower AUVs.Moreover,as the distance between the AUVs change due to ocean waves,the delay in communication also varies.In this study,a modified constrained adaptive controller(CAC)is proposed to resolve the issue of variable-delay as well as actuator saturation.Due to the on-line reduction of the cost function,the gains of the CAC are updated at each sampling time taking into account the effects of communication delay.This improves the path-following accuracy of the leader AUV as well as follower AUVs.The effectiveness of the proposed control algorithm is demonstrated by implementing it on a prototype AUV(ODRA-I)model.The obtained simulation and experimental results show that the follower AUVs maintain a desired distance from the leader AUV to avoid a collision.For the proposed algorithm,the desired path-following performance of the follower AUV is maintained even when the delay is changed from 0 to 5 s.Moreover,the proposed control algorithm is efficient in avoiding actuator saturation. | Chhavi Suryendu Bidyadhar Subudhi | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 3 |
| 5 | Robust control approach for handling matched and/or unmatched uncertainties in port-controlled Hamiltonian systems显示文摘This study considers the problem of robust interconnection and damping assignment passivity-based control approach(IDA-PBC)for underactuated mechanical systems from two points of view.First,the robustness of IDA-PBC in the presence of non-vanishing matched and unmatched uncertainties is analysed and sufficient conditions are derived to ensure ultimate boundedness of system.Second,the robust control design is provided by adding a new control input to the former controller designed by IDA-PBC,such that asymptotic stability of the closed-loop system in the face of non-vanishing matched uncertainties is fulfilled.Finally,the proposed robust controller is evaluated through simulations of two practical examples,i.e.an inertia wheel pendulum and a single-link elastic joint robot.The simulation outcomes clearly reveal the effectiveness of the presented robust controller. | Tahereh Binazadeh Mahsa Karimi Ali Reza Tavakolpour-Saleh | 2019 | IET Cyber-Systems and Robotics2019，1，3： | 2 |
| 6 | Unit dual quaternion-based pose optimisation for visual runway observations显示文摘This study addresses the pose estimation problem of an aircraft runway using visual observations in a landing approach scenario.The authors utilised the fact that the geodetic coordinates of most runways are known precisely with highly visible markers.Thus,the runway observations can increase the level of situational awareness during the landing approach,providing additional redundancy of navigation and less reliance on global positioning system.A novel pose optimisation algorithm is proposed utilising unit dual quaternion for the runway corner observations obtained from a monocular camera.The estimated runway pose is further fused with an inertial navigation system in an extended Kalman filter.An open-source flight simulator is used to collect and process the visual and flight dataset during the landing approach,demonstrating reliable runway pose estimates and the improved inertial navigation solution. | Galen Brambley Jonghyuk Kim | 2020 | IET Cyber-Systems and Robotics2020，2，4： | 2 |
| 7 | Neural network-based semantic segmentation model for robot perception of driverless vision显示文摘Driverless vision is one of the important applications of robot perception.With the development of driverless vehicles,the perception and understanding of the surrounding environment are becoming more and more important.When the types of surrounding objects are too complex,the ability of the computer to recognise the environment is poor.To improve the recognition accuracy of the computer and enhance the ability of segmentation,in this study,depth estimation is used to predict depth information to assist semantic segmentation,and then edge features of objects are introduced to enhance the contour of objects.A neural network-based semantic segmentation model is proposed.Finally,the intrinsic mechanism of attention is used to increase the correlation between channels.The experimental results on the CamVid data set show that this model can obtain better evaluation results and improve the segmentation accuracy of images compared with other models. | Lu Ye Ting Duan Jiayi Zhu | 2020 | IET Cyber-Systems and Robotics2020，2，4： | 2 |
| 8 | Aerodynamic mechanisms in bio-inspired micro air vehicles:a review in the light of novel compound layouts显示文摘Modern designs of micro air vehicles(MAVs)are mostly inspired by nature's flyers,such as hummingbirds and flying insects,which results in the birth of bio-inspired MAVs.The history and recent progress of the aerodynamic mechanisms in bio-inspired MAVs are reviewed in this study,especially focused on those compound layouts using bio-inspired unsteady aerodynamic mechanisms.Several successful bio-mimicking MAVs and the unsteady high lift mechanisms in insect flight are briefly revisited.Four types of the compound layouts,i.e.the fixed/flapping-wing MAV,the flapping rotary wing MAV,the multiple-pair flapping-wing MAV,and the cycloidal rotor MAV are introduced in terms of recent findings on their aerodynamic mechanisms.In the end,future interests in the field of MAVs are suggested.The authors'review can provide solid background knowledge for both future studies on the aerodynamic mechanisms in bio-inspired MAVs and the practical design of a bio-inspired MAV. | Long Chen Yanlai Zhang Chao Zhou Jianghao Wu | 2019 | IET Cyber-Systems and Robotics2019，1，1： | 2 |
| 9 | Efficient thrust generation in robotic fish caudal fins using policy search显示文摘Thrust generation is a crucial aspect of fish locomotion that depends on a variety of morphological and kinematic parameters.In this work,the kinematics of caudal fin motion of a robotic fish are optimised experimentally.The robotic fish actuates its caudal fin with flapping and rotation motion,and also measures the fin hydrodynamic force and torque.Total nine designs of the caudal fins are investigated,with three different shapes(or inclination angles)and three stiffness.The optimisation is based on a policy search(PS)algorithm,which is used to maximise the thrust-generation efficiency of the caudal fins.The authors first parametrise fin spanwise-rotation as a sinusoidal function using rotation amplitude and phase delay and test whether it is beneficial to thrust-generation efficiency.The result shows that the rotation does not contribute to the efficiency,as the efficiency is maximised at zero amplitude.Next,the authors optimise flapping amplitude and trajectory profile without fin rotation.Results show that smaller flapping amplitude results in higher efficiency and linear flapping trajectories are preferred over sinusoidal ones.Fins that have the highest flexibility are more efficient in thrust generation although they generate less thrust,while an inclination angle of 30°yields the most efficient fin shape. | Yixi Shan Yagiz EBayiz Bo Cheng | 2019 | IET Cyber-Systems and Robotics2019，1，1： | 2 |
| 10 | Phantom motion intent decoding for transhumeral prosthesis control with fused neuromuscular and brain wave signals显示文摘In recent years,the electroencephalography(EEG)brain-computer interface(BCI)has been researched in the area of upper-limb prosthesis control due to the promise of being able to record neurological signals which follow activation patterns in the cortex directly from the brain with non-invasive electrodes.This is seen as a way of bypassing the limitation posed by acquiring neuromuscular signals predominantly with electromyography(EMG)directly from the stump,which possesses residual limb anatomy post-amputation.In this study,the sequential forward selection algorithm to form a 10-optimal-channel representation,alongside an extended signal feature vector was applied,to investigate the motion intent decoding performance of EMG-only,EEG-only,and a fused EMG-EEG sensing configuration for four transhumeral amputees with varying stump lengths.The results showed a considerable improvement for the EMG-only configuration with the advanced feature vector,but only a small increase for the EEG-only,and thus a marginal improvement when information from both signals was fused together.This is likely due to the EEG requiring a greater number of channels spread across the skull to provide a reliable intent decoding.Further work will now involve optimisation studies to find a greater representation of electrode representation and parsimony,to minimise the number of channels while boosting motion intent decoding accuracy. | Ejay Nsugbe Oluwarotimi Williams Samuel Mojisola Grace Asogbon Guanglin Li | 2021 | IET Cyber-Systems and Robotics2021，3，1： | 2 |
| 11 | Survey of UAV motion planning显示文摘Motion planning is a vital module for unmanned aerial vehicles(UAVs),especially in scenarios of autonomous navigation and operation.This survey delivers some recent state-of-the-art UAV motion planning algorithms and related applications.The logic flow of this survey is divided as the path finding,which is the front-end of most motion planning systems,and the trajectory optimisation,which usually serves as the back-end.Motivation,methodology,problem formulation and derivation are given in this survey,in detail.Finally,a section about real-world applications is given,where roles and effectiveness of most popular motion planning methods are revealed. | Lun Quan Luxin Han Boyu Zhou Shaojie Shen Fei Gao | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 2 |
| 12 | Filtering enhanced tomographic PIV reconstruction based on deep neural networks显示文摘Tomographic particle image velocimetry(Tomo-PIV)has been successfully applied in measuring three-dimensional(3D)flow field in recent years.Such technology highly relies on the reconstruction technique which provides the spatial particle distribution by using images from multiple cameras at different viewing angles.As the most popular reconstruction method,the multiplicative algebraic reconstruction technique(MART)has advantages in high computational speed and high accuracy for low particle seeding reconstruction.However,the accuracy is not satisfactory in the case of dense particle distributions to be reconstructed.To overcome this problem,a symmetric encode-decoder fully convolutional network is proposed in this paper to improve the reconstruction quality of MART.The input of the neural network is the particle field reconstructed by the MART approach,while the output is the regenerated image with the same resolution.Numerical evaluations indicate that those blurred or irregular particles can be significantly refined by the trained neural network.Most of the ghost particles can also be removed by this filtering method.The reconstruction accuracy can be improved by more than 10%without increasing the computational cost.Experimental evaluations indicate that the trained neural network can also provide similar satisfactory reconstruction and improved velocity fields. | Jiaming Liang Shengze Cai Chao Xu Jian Chu | 2020 | IET Cyber-Systems and Robotics2020，2，1： | 2 |
| 13 | A global path planning algorithm based on the feature map显示文摘The feature map is a characteristic of high computational efficiency,but it is seldom used in path planning due to its lack of expression of environmental details.To solve this problem,a global path planning algorithm based on the feature map is proposed based on the directionality of line segment features.First,the robot searches the path along the direction of the target position but turns to search in the direction parallel to the obstacle,which it approaches until the line between the robot and the target position does not intersect with obstacles.Then it turns to the target position,keep searching the path.Meanwhile,the problems of the direction selection of turning point,corner point and obstacle circumvention in the searching process are analysed and corresponding solutions are put forth.Finally,a path optimisation algorithm with variable parameters is proposed,making the optimised path shorter and smoother.Simulation experiments demonstrate that the proposed algorithm is superior to A*algorithm in terms of computation time and path length,especially of the computation efficiency. | Gongchang Ren Peng Liu Zhou He | 2022 | IET Cyber-Systems and Robotics2022，4，1： | 2 |
| 14 | An improved YOLOv3-tiny algorithm for vehicle detection in natural scenes显示文摘YOLO(You Only Look Once),as a target detection algorithm with good speed and precision,is widely used in the industry.In the process of driving,the vehicle image captured by the driving camera is detected and it extracts the license plate and the front part of the vehicle.Compared with the network structure of YOLOv3-tiny algorithm,the acquisition method of anchor box is improved by combining the Birch algorithm.In order to improve the real-time performance,the original two-scale detection is added to the multi-scale prediction of three-scale detection to ensure its accuracy.Finally,the experimental results show that the improved YOLOv3-tiny network structure proposed in this study can improve the performance of mean-average-precision,intersection over union and speed by 5.99%,17.52%and 48.4%,respectively,and the algorithm has certain robustness. | Bingqiang Huang Haiping Lin Zejun Hu Xinjian Xiang Jiana Yao | 2021 | IET Cyber-Systems and Robotics2021，3，3： | 2 |
| 15 | Robust fuzzy control of nonlinear fuzzy impulsive systems with time - varying delay 显示文摘 | Jiang H B Yu J J Zhou C G | 2008 | IET control theory and applications2008，8，2： | 1 |
| 16 | Circuit breaker failure data and reliability modelling显示文摘 | LINDQUIST T M BERTLING L ERIKSSON R | 2008 | Generation Transmission & Distribution IET2008，2，6： | 1 |
| 17 | Shape-based retrieval of industrial surface defects using angular radius Fourier descriptor显示文摘 | Kunttu I Lepisto L | 2007 | Image Processing IET2007，1，2： | 1 |
| 18 | Face tracking and pose estimation with automatic three-dimensional model construction显示文摘 | JIMENEZ P NUEVO J BERGASA L M | 2009 | IET Computer Vision2009，3，2： | 1 |
| 19 | Design of a sliding mode controller for trajectory problem of marine vessels显示文摘 | CHENG Jin YI Jiangqiang ZHAO Dongbin | 2007 | IET Control Theory and Applications2007，1，1： | 1 |
| 20 | Dynamic phasor and frequency estimator for phasor measurement units 显示文摘 | MAI R K HE Z Y FU L | 2010 | IET Generation Transmission & Distribution2010，4，1： | 1 |
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