Jie Zhang

As robotic applications rapidly expand into increasingly complex and dynamic environments, greater emphasis is being placed on the intelligence and safety of human–robot collaboration at the task execution level. In shared human–robot workspaces, even the most precise motion planning cannot fully prevent collisions. To address this critical safety concern, we propose a variational Bayesian Kalman filtering-based external torque estimation algorithm that integrates the robot’s dynamic model while avoiding additional system complexity. We begin by reviewing the robot dynamics framework and the classical external torque estimation method based on generalized momentum. We then derive a Kalman filter-based approach for external torque estimation in robotic manipulators and analyze the adverse effects arising from mismatches in process noise covariance. Finally, we introduce a sliding window-based variational Bayesian Kalman filter, which dynamically estimates the current process noise covariance while simultaneously mitigating the accumulation of recursive errors.

To enhance wind farm frequency regulation in renewable-dominant power systems, this paper proposes a bi-level hybrid framework integrating deep learning and model predictive control (MPC) by retaining the critical wake propagation delay while neglecting higher-order turbulence effects. The upper layer employs a synthetic inertial intelligent control strategy based on contractive autoencoder (CAE) and deep neural network (DNN). Particle swarm optimization (PSO) obtains optimal synthetic inertial parameters for dataset construction, CAE extracts features from multi-dimensional inputs, and DNN outputs optimal coefficients to determine the total power deficit the wind farm needs to supply. The lower layer uses a nonlinear model predictive control (NMPC) strategy with the discretized rotor motion equation as the prediction model and optimization under constraints to allocate the total power deficit to each turbine. MATLAB/Simulink case studies show that, compared with fixed-coefficient synthetic inertial control, the proposed framework raises the frequency nadir by 0.01–0.02 Hz, shortens the settling time by over 200 s under 2–4% load disturbances, and maintains rotor speed within the safe range. This work significantly enhances the wind farm’s frequency regulation performance, contributing to power system and energy sustainability.

As robotic applications rapidly expand into increasingly complex and dynamic environments, greater emphasis is being placed on the intelligence and safety of human–robot collaboration at the task execution level. In shared human–robot workspaces, even the most precise motion planning cannot fully prevent collisions. To address this critical safety concern, we propose a variational Bayesian Kalman filtering–based external torque estimation algorithm that integrates the robot’s dynamic model while avoiding additional system complexity. We begin by reviewing the robot dynamics framework and the classical external torque estimation method based on generalized momentum. We then derive a Kalman filter–based approach for external torque estimation in robotic manipulators and analyze the adverse effects arising from mismatches in process noise covariance. Finally, we introduce a sliding window–based variational Bayesian Kalman filter, which dynamically estimates the current process noise covariance while simultaneously mitigating the accumulation of recursive errors.

With the introduction of uncertainty estimation methods in deep learning, artificial intelligence (AI) has improved the reliability in various fault diagnosis and risk decision-making applications. However, the training process of these models is often treated as a black box, leading to a lack of interpretability in fault diagnosis and making the physical meaning of the models unclear. To address this issue, we propose an uncertainty quantification fault diagnosis method based on a multisignal domain interpretable neural network, termed local and global BayesCNN (LGBayesCNN). This framework uses BayesCNN as the backbone network and replaces traditional convolutional kernels with fractional Fourier transform (FrFT) and short-time Fourier transform (STFT), ensuring that the model has a clear physical meaning and enabling feature extraction and analysis from both global and local perspectives. During the training process, the network adaptively adjusts the FrFT order and the frequency of the window function in STFT, allowing it to reveal the signal features that the network focuses on in the fractional-frequency and time-frequency domain, further enhancing the interpretability of the network. Moreover, the joint cross-attention mechanism is introduced to fuse these two types of features for achieving feature complementarity and enhancement. In addition, the uncertainty-aware capability of BayesCNN enables the detection of unknown faults and the estimation and quantification of uncertainty in diagnostic results. We conducted experiments using a bearing fault diagnosis dataset from Southeast University (SEU) and Huazhong University of Science and Technology. The results show that LGBayesCNN achieves the highest fault diagnosis accuracy of 99.81% and 100%, demonstrating its effectiveness and reliability.

With the continuous and large-scale development of renewable energy, there is a prominent decrease in the level of inertia in new power systems. This decrease leads to the weakening of the system’s capability to provide inertia support and frequency regulation during disturbance events. The wind turbines (WT), as the main representatives of renewable energy generation, should be more efficiently involved in the power system frequency regulation dynamics. However, optimal frequency regulation is difficult to achieve through the combined inertial control strategy of wind turbines because it greatly depends on control parameters and fluctuates in different scenarios. To cope with disturbance efficiently and quickly in different scenarios and obtain the optimal frequency regulation results, this paper presents an improved combined inertial intelligent control strategy of WT based on contractive autoencoder (CAE) and deep neural network (DNN). This method obtains the optimal parameters for combined inertial control using the particle swarm optimization (PSO) algorithm, then effectively extracts features from actual data using CAE followed by building a network model to predict the optimal combined inertial control parameters online. To verify and test the proposed method, it is applied in the IEEE 9-bus test system. The simulation results show that the method can obtain optimal control parameters with a faster computational time, good prediction accuracy, and generalization capability.

The beetle antennae search (BAS) algorithm is an outstanding representative of swarm intelligence algorithms. However, the BAS algorithm still suffers from the deficiency of not being able to handle high-dimensional variables. A quantum-based beetle swarm optimization algorithm (QBSO) is proposed herein to address this deficiency. In order to maintain population diversity and improve the avoidance of falling into local optimal solutions, a novel quantum representation-based position updating strategy is designed. The current best solution is regarded as a linear superposition of two probabilistic states: positive and deceptive. An increase in or reset of the probability of the positive state is performed through a quantum rotation gate to maintain the local and global search ability. Finally, a variable search step strategy is adopted to speed up the ability of the convergence. The QBSO algorithm is verified against several swarm intelligence optimization algorithms, and the results show that the QBSO algorithm still has satisfactory performance at a very small population size.

This paper is concerned with the nonfragile state estimation for a kind of delayed fractional-order neural network under the event-triggered mechanism (ETM). To reduce the bandwidth occupation of the communication network, the ETM is employed in the sensor-to-estimator channel. Moreover, in order to reflect the reality, the transmission delay is taken into account in the model establishment. Sufficient criteria are supplied to make sure that the augmented system is asymptotically stable by using the fractional-order Lyapunov indirect approach and the linear matrix inequality method. In the end, the theoretical result is shown by means of two numerical examples.