IET Cybersystems and Robotics最新文献

{"title":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148065043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A General Optimisation-Based Framework for Global Pose Estimation With Multiple Sensors","authors":"Tong Qin,&nbsp;Shaozu Cao,&nbsp;Jie Pan,&nbsp;Shaojie Shen","doi":"10.1049/csy2.70023","DOIUrl":"10.1049/csy2.70023","url":null,"abstract":"<p>Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors (camera, IMU (inertial measurement unit), LiDAR, etc.) provide precise poses within a small region, whereas global sensors (GPS (global positioning system), magnetometer, barometer, etc.) supply noisy but globally drift-free localisation in a large-scale environment. In this paper, we propose a sensor fusion framework to fuse local states with global sensors, which achieves locally accurate and globally drift-free pose estimation. Local estimations, produced by existing visual odometry/visual-inertial odometry (VO/VIO) approaches, are fused with global sensors in a pose graph optimisation. Within the graph optimisation, local estimations are aligned into a global coordinate. Meanwhile, the accumulated drifts are eliminated. We evaluated the performance of our system on public datasets and with real-world experiments. The results are compared with those of other state-of-the-art algorithms. We highlight that our system is a general framework which can easily fuse various global sensors in a unified pose graph optimisation.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70023","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144935142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148063119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Conflict-Free Planning and Data-Driven Control of Large-Scale Nonlinear Multi-Robot Systems","authors":"You Wu,&nbsp;Yi Lei,&nbsp;Haoran Tan,&nbsp;Jin Guo,&nbsp;Yaonan Wang","doi":"10.1049/csy2.70027","DOIUrl":"10.1049/csy2.70027","url":null,"abstract":"<p>This paper addresses a crucial challenge in the domain of smart factories and intelligent warehouse logistics, focusing on conflict-free planning and the smooth operation of large-scale nonlinear mobile robots. To tackle the challenges associated with scheduling large-scale mobile robots, an improved space–time multi-robot planning algorithm is proposed. The cloud servers are adopted in this algorithm for computation, which enables faster response to the planning requirements of large-scale mobile robots. Furthermore, enhancements to a model-free adaptive predictive control method are proposed to enhance the networked control effectiveness of the nonlinear robots. The algorithm's capability to accommodate conflict-free path planning for large-scale mobile robots is demonstrated through simulation results. Experimental findings further validate the effectiveness of the cloud-based large-scale mobile robot planning and control system in achieving both conflict-free path planning and accurate path tracking. This research holds substantial implications for enhancing logistics transportation efficiency and driving advancements in the field of smart factories and intelligent warehouse logistics.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70027","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144927354","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robotic Arm C-Space Trajectory Planning Using Large-Scale Digital Twin Parallelism and Safety-Prioritisable Optimal Search Algorithm","authors":"Tengyue Wang,&nbsp;Zhefan Lin,&nbsp;Yunze Shi,&nbsp;Songjie Xiao,&nbsp;Liangjing Yang","doi":"10.1049/csy2.70026","DOIUrl":"10.1049/csy2.70026","url":null,"abstract":"<p>This paper proposes a trajectory planning approach based on the configuration space (C-space) generated from large-scale digital twinning. Leveraging GPU-based parallelism, the C-space of a multi-degree-of-freedom (multi-DoF) manipulator in a complex task space with obstacles can be mapped out through extensive simulation of motion and collision of multiple virtual robot arms known as digital twins. An optimal search algorithm is incorporated with artificial potential field generated in the C-space to allow the prioritising of safety in accordance with the varying risks associated with the obstacles by means of variable repulsive potential. To extend the high-degree path to smooth and continuous joint trajectories, a spline operation is applied. Finally, a 7-DOF physical manipulator is deployed for the execution of the planned trajectory in a task space filled with obstacles. Results demonstrated a 16.3% improvement in success rate achieved by utilising the safety-prioritisable search algorithm. With this unified formulation of the control and planning problem in the C-space, the kinematics complexity of a large DOF manipulator in obstacle-present task space could be truly relieved from the joint control loop. This simplification, in turn, opens up prospective work in dynamic reconstruction of the C-space.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70026","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144915120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148096366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Lightweight DETR for Small-Target Defect Detection in Stators and Rotors of Pumped Storage Generators","authors":"Yang You,&nbsp;Zhimeng Chen,&nbsp;Jian Qiao,&nbsp;Huan Liu,&nbsp;Jing Fang,&nbsp;Jie Luo,&nbsp;Jiaxin Wei,&nbsp;Jiarong Xu","doi":"10.1049/csy2.70022","DOIUrl":"10.1049/csy2.70022","url":null,"abstract":"<p>Real-time detection of micro-defects in pumped storage generator stators and rotors remains challenging due to small-target obscurity and edge deployment constraints. This paper proposes EdgeFault-detection transformer (DETR), a lightweight transformer model that integrates three innovations: (1) dynamic geometric-photometric augmentation for robustness, (2) a FasterNet backbone with Partial Convolution (PConv) that reduces the number of parameters by 40% (from 20 × 10⁶ to 12 × 10⁶), and (3) cross-scale small-object head enhancing defect localisation. Experiments on 8763 industrial images demonstrate 75.38% [email protected] (+17.25% over RT-DETR) and 49.3% mAP_small (+42.9% from baseline). The model achieves 22 FPS on NVIDIA RTX A4000 GPUs (640 × 640 resolution), validating real-time industrial applicability. Strategic computation allocation increases GFLOPs (giga floating-point operations) by 16.4% (from 58.6 to 68.2) to prioritise safety–critical precision, justifying the trade-off for detecting high-risk anomalies (e.g., insulation cracks).</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70022","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144894145","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148092505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Lightweight Hand Acupoint Recognition Based on Middle Finger Cun Measurement","authors":"Zili Meng,&nbsp;Minglang Lu,&nbsp;Guanci Yang,&nbsp;Tianyi Zhao,&nbsp;Donghua Zheng,&nbsp;Ling He,&nbsp;Zhi Shan","doi":"10.1049/csy2.70024","DOIUrl":"10.1049/csy2.70024","url":null,"abstract":"<p>Acupoint therapy plays a crucial role in the prevention and treatment of various diseases. Accurate and efficient intelligent acupoint recognition methods are essential for enhancing the operational capabilities of embodied intelligent robots in acupoint massage and related applications. This paper proposes a lightweight hand acupoint recognition (LHAR) method based on middle finger cun measurement. First, to obtain a lightweight model for rapid positioning of the hand area, on the basis of the design of the partially convolutional gated regularisation unit and the efficient shared convolutional detection head, an improved YOLO11 algorithm based on a lightweight efficient shared convolutional detection head (YOLO11-SH) was proposed. Second, according to the theory of traditional Chinese medicine, a method of positional relationship determination between acupoints based on middle finger cun measurement is established. The MediaPipe algorithm is subsequently used to obtain 21 keypoints of the hand and serves as a reference point for obtaining features of middle finger cun via positional relationship determination. Then, the offset-based localisation approach is adopted to achieve accurate recognition of acupoints by using the obtained feature of middle finger cun. Comparative experiments with five representative lightweight models demonstrate that YOLO11-SH achieves an [email protected] of 97.3%, with 1.59 × 10⁶ parameters, 3.9 × 10⁹ FLOPs, a model weight of 3.4 MB and an inference speed of 325.8 FPS, outperforming the comparison methods in terms of both recognition accuracy and model efficiency. The experimental results of acupoint recognition indicate that the overall recognition accuracy of LHAR has reached 94.49%. The average normalised displacement error for different acupoints ranges from 0.036 to 0.105, all within the error threshold of ≤ 0.15. Finally, LHAR is integrated into the robotic platform, and a robotic massage experiment is conducted to verify the effectiveness of LHAR.</p>","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/csy2.70024","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144892497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":34110,"journal":{"name":"IET Cybersystems and Robotics","volume":"7 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148087377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}