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We are very pleased to present this Special Section of these Transactions, including six extended articles selected from the technical program of the 2017 International Conference on Automation Science and Engineering (CASE 2017), held in Xi’an, China, August 20–23, 2017. CASE is an offspring of the Transactions on Automation Science and Engineering and is the flagship automation conference of the

The 14th Annual IEEE International Conference on Automation Science and Engineering (CASE 2018) sponsored by the IEEE Robotics and Automation Society (RAS) was held on August 20–24, 2018, in Munich, Germany. IEEE CASE is the flagship automation conference of the IEEE RAS and constitutes the primary forum for cross-industry and multidisciplinary research in automation. Its goal was to provide a broad

Cyber–physical systems (CPSs) in the manufacturing domain can be deployed to support monitoring and analysis of production systems of a factory in order to improve, support, or automate processes, such as maintenance or scheduling. When a network of CPS is subject to frequent changes, the semantic interoperability between the CPSs is of special interest in order to avoid manual, tedious, and error-prone

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The steelmaking process in the iron and steel industry involves complicated physicochemical reactions. The main aim of steelmaking is to adjust the quality of molten steel. During the steel-tapping process, the temperature and carbon content are the most essential quality indices for end-point prediction. This article presents a novel machine learning framework for the end-point prediction problems

In this article, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise 3-D acceleration control of a multi-rotor unmanned aerial vehicle (UAV). The acceleration control of the multi-rotor requires conversion of the desired acceleration signal to the desired roll, pitch, and total thrust. However, because the attitude dynamics

Automatic polyp recognition in endoscopic images is challenging because of the low contrast between polyps and the surrounding area, the fuzzy and irregular polyp borders, and varying imaging light conditions. In this article, we propose a novel densely connected convolutional network with “unbalanced discriminant (UD)” loss and “category sensitive (CS)” loss (DenseNet-UDCS) for the task. We first

A significant challenge in comprehensive geometric accuracy control of an additive manufacturing (AM) system is the specification of shape deviation models for different computer-aided design products manufactured on its constituent AM processes. Current deviation modeling techniques do not satisfactorily address this challenge because they can require substantial user inputs and efforts to implement

We present a method for fabricating general models with multi-directional 3-D printing systems by printing different model regions along with different directions. The core of our method is a support-effective volume decomposition algorithm that minimizes the area of the regions with large overhangs. A beam-guided searching algorithm with manufacturing constraints determines the optimal volume decomposition

In this article, we propose an augmented reality semiautomatic labeling (ARS), a semiautomatic method which leverages on moving a 2-D camera by means of a robot, proving precise camera tracking, and an augmented reality pen (ARP) to define initial object bounding box, to create large labeled data sets with minimal human intervention. By removing the burden of generating annotated data from humans,

Considering time-varying transition probability (TVTP), this article combines Markov regime switching with a dynamic conditional correlation generalized autoregressive conditional heteroscedasticity (DCC-GARCH) model to construct a new hedging model and study a state-dependent minimum variance hedging ratio. A two-stage maximum likelihood method is constructed to estimate the model parameters. A filtering

Pulp is the most important raw material in paper industries, whose fiber length stochastic distribution (FLSD) shaping directly determines the energy consumption and paper quality of the subsequent papermaking processes. However, the mean and variance are insufficient to describe the FLSD shaping, which displays non-Gaussian distributional properties. Therefore, the traditional control method based

Accurate modeling of a thermal field is one of the fundamental requirements in engineering thermal management in numerous industries. Existing studies have shown that using differential equations to model a thermal field delivers good performance when the parameters are predetermined through physical or experimental analysis. However, due to variations of the inner medium affected by certain latent

Visual localization has been well studied in recent decades and applied in many fields as a fundamental capability in robotics. However, the success of the state of the arts usually builds on the assumption that the environment is static. In dynamic scenarios where moving objects are present, the performance of the existing visual localization systems degrades a lot due to the disturbance of the dynamic

The contribution of this article is to propose an approach that solves the motion planning problem for an extensible elastic rod using contacts with the environment. We first show how motion planning for a deformable rod can be done by coupling both quasi-static and dynamic rod models with sampling-based methods. Sampling directly in the submanifold of static equilibrium and contact-free configurations

Learning the relationship between a response variable (e.g., a quality characteristic) and a set of predictors (e.g., process variables) is of special importance in process modeling, prediction, and optimization. In many applications, not only is the number of these variables large but these variables are also high-dimensional (HD) (e.g., they are represented by waveform signals). This high dimensionality

To more actively perform fine manipulation tasks in the real world, intelligent robots should be able to understand and communicate the physical attributes of the material during interaction with an object. Tactile and vision are two important sensing modalities in robotic perception system. In this article, we propose a cross-modal material perception framework for recognizing novel objects. Concretely

3-D dynamic field modeling using data acquired from sensor networks is typically complex due to the data sparsity and missing problem. In this article, we consider the ubiquitous missing data problem in current sensor networks and aim to take complete advantage of the existing sensor data for thermal field modeling. In the common scenario, data from the target network are not always obtainable, but

We propose a novel subsurface pipeline mapping and 3D reconstruction method by fusing ground-penetrating radar (GPR) scans and camera images. To facilitate the simultaneous detection of multiple pipelines, we model the GPR sensing process and prove hyperbola response for general scanning with nonperpendicular angles. Furthermore, we fuse visual simultaneous localization and mapping outputs, encoder

Convolutional neural networks (CNNs) for 3-D data analyses require a large size of memory and fast computation power, making real-time applications difficult. This article proposes a novel OctreeNet (a sparse 3-D CNN) to analyze the sparse 3-D laser scanning data gathered from outdoor environments. It uses a collection of shallow octrees for 3-D scene representation to reduce the memory footprint of

Pose estimation with state or measurement constraints has been frequent in autonomous vehicle navigation. Aiming at incorporating constraints inherently, this article proposes a dynamic potential field (DPF)-based formulation to represent states, measurements, and constraints on connected Riemannian manifolds. The state equation and the output equation are derived in the DPF forms, which imply the

3-D registration has always been performed invoking singular value decomposition (SVD) or eigenvalue decomposition (EIG) in real engineering practices. However, these numerical algorithms suffer from uncertainty of convergence in many cases. A novel fast symbolic solution is proposed in this article by following our recent publication in this journal. The equivalence analysis shows that our previous

Because of the worldwide aging population, more and more elders suffer from dementia problem. Nowadays, it is an inconvenient and time-consuming process for medical doctors to diagnose elders who live independently with possible dementia because the process imposes a large quantity of diagnostic questions from a checklist that needs to be answered by elders themselves or their caregivers either directly

This article deals with the problem of discovering a Petri net (PN) model of a discrete-event system, starting from the observation of long-event sequences. Precisely, given an interpreted PN (IPN) system modeling the relations between input and output events of the system (i.e., the reactive/observable behavior), the internal state evolutions of the system (i.e., the unobservable behavior) are first

We propose an innovative approach to enhance welding operations by using a cyber-physical system (CPS) with layered architecture and enabling a robot to be effectively operated by its commanding human. This article focuses on the recognition of the commanding human’s intention that should be executed by the robot. To this end, a virtual reality (VR) system based on the HTC Vive is used to create a

Complex logistics support missions require the execution of spatially separated information gathering and situational awareness tasks. Mobile robot teams can play an important role in the automated execution of these tasks to reduce mission completion time. Planning strategies for such missions must take into account the formation of effective coalitions among available robots and assignment of tasks

Controlling magnetic microswimmers toward 3-D manipulation tasks has received considerable attention. Although related studies on manipulating helical microswimmers have been developed, stable closed-loop controls and accuracy swimming models should be still investigated. This article addresses the problem of 3-D path following for magnetically driven helical microswimmers with an adaptive-compensation

Due to the development of sensor networks and information technology, data-driven fault detection and diagnosis (FDD) has been made possible with real-time multiple sensor measurements. However, due to inevitable sensor errors or communication failures, the raw data are usually incomplete with corrupted values, lost values, or undetected missing values. In practice, the incomplete data are usually

The tracking-by-detection tracking framework usually consists of two stages: drawing samples around the target object and classifying each sample as either the target object or background. Current popular trackers under this framework typically draw many samples from the raw image and feed them into the deep neural networks, resulting in high computational burden and low tracking speed. In this article

A vision-based system presents one of the most reliable methods for achieving an automated robot-assisted manipulation associated with surgical knot tying. However, some challenges in suture thread detection and automated suture thread grasping significantly hinder the realization of a fully automated surgical knot tying. In this article, we propose a novel algorithm that can be used for computing

Virtual sensors have established themselves as effective tools in process industries for online estimating variables that are crucial but difficult to measure. However, multimode industrial processes render developing high-accuracy virtual sensors quite challenging. The main difficulties lie in that, in multimode processes, the distributions of process data are strongly non-Gaussian and the mathematical

In recent years, web-based appointment platforms develop rapidly, and many of them provide physician recommendation services to patients. Considering patients’ heterogeneity in both illness and behavior, it is a great challenge to deliver personalized recommendations. Motivated by this healthcare application, this study incorporates patient choices and focuses on optimizing real-time personalized recommendation

Continuous structural health monitoring of civil infrastructure can be achieved by deploying an Internet of Things network of distributed acceleration sensors in buildings to capture floor movement. Postdisaster damage levels can be computed based on the peak relative floor displacement as specified in government standards. This article uses machine learning approaches to identify the status of buildings

With the expansion of the sharing economy, growing urban traffic, and increasing environmental pollution, bike-sharing systems (BSSs) are developing rapidly all over the world. A major operational issue in BSS is to reposition the bikes over time such that enough bikes and open parking slots are available to users. Especially during peak hours, it is essential to stabilize BSS in use. To cope with

In general, systems are formed by the composition of several modules, local components, or subsystems, and may exhibit a large number of states. The growth of the composed model with the number of system components leads to high-computational costs for diagnosis techniques based on the composed plant model. We propose in this article a new approach for fault diagnosis that avoids the direct use of

To make the controller implementation easier and to enhance the system robustness and control performance in the presence of the camera parameter uncertainties, it is very desired to develop vision-based control approaches without any offline or online camera calibration. In this article, we propose a new calibration-free image-based trajectory tracking control scheme for nonholonomic mobile robots

With increasing drastic market competition, establishing an accurate and reliable performance prediction model for control and optimization at a minimum cost is a growing trend in industrial production. This article proposes a minimum-cost modeling method to develop the performance prediction model of a new nonlinear industrial process. The core idea of this approach is to migrate the useful information

Deploying unmanned aerial vehicles, also known as drones, for final-mile delivery in logistics operations has inspired this research. One conceivable scenario is to use the drone to transfer jobs in a robotic mobile fulfillment center. Each job might be characterized by origin, destination, time window, and precedence relation. In particular, a take-away conveyor is continuously pushing forward shipping

This article discusses the guide path design of automated guided vehicle (AGV) systems for which we propose a model that incorporates a dynamic multicommodity flow with capacity constraints from a pickup to a delivery point. The problem is formulated as the selection of a guide path connecting a given set of pickup/delivery points. A cell-based local search that is based on an original neighborhood

This article presents the design, development, and validation of a closed-loop control system for a soft robotic table. The soft table can provide independent manipulation to multiple objects simultaneously, which is an advantage over traditional devices such as robotic arms and belt conveyor systems. The table also provides intrinsic soft handling for delicate objects. In order to execute automation

We present a novel application of the variable stiffness actuator (VSA)-based assistance/rehabilitation robot-featured impedance control using a cascaded position torque control loop. The robot follows the adaptive impedance control paradigm, thereby achieving an adaptive assistance level according to human joint torque. The feedforward human joint torque command is used to cooperatively adjust the

Several advantages would arise from the automated detection of pathologies of pig carcasses, including avoidance of the inherent risks of subjectivity and variability between human observers. Here, we develop a novel automated classification of two porcine offal pathologies at abattoir: a focal, localized pathology of the liver and a diffuse pathology of the heart, as cases in point. We develop a pattern

As a class of underactuated systems, cooperative dual rotary crane systems (DRCSs) are widely used to complete the task of large payload transportation in complex environments, since the working capacity of single cranes is quite limited. However, the control issues of DRCS fail to receive enough attention at present. Compared with single cranes, DRCSs contain more state variables, geometric constraints

Cybersecurity is of vital importance to industrial control systems (ICSs), such as ship automation, manufacturing, building, and energy automation systems. Many control applications require hard real-time channels, where the delay and jitter are in the levels of milliseconds or less. To the best of our knowledge, no encryption algorithm is fast enough for hard real-time channels of existing industrial

Intelligent systems and advanced automation are involved in information collection and evaluation, decision-making, and the implementation of chosen actions. In such systems, human responsibility becomes equivocal. Understanding human causal responsibility is particularly important when systems can harm people, as with autonomous vehicles or, most notably, with autonomous weapon systems (AWSs). Using

This article addresses the combinatorial explosion problem for diagnosability analysis of discrete event systems (DESs) using bounded labeled Petri nets (LPNs). Some reduction rules are given to simplify a priori the LPN model before analyzing the diagnosability. When the conditions of these reduction rules are fulfilled, some regular unobservable transitions and some specific observable transitions

A new method is proposed to predict upcoming alarm events for a current alarm sequence by exploiting similar historical alarm flood sequences. The proposed method is composed of two main steps. The first step sorts the historical alarm flood sequences in the descending order of similarity scores with respect to the current alarm sequence. The second step chooses some subsequence of recent alarm events

In order to improve the robustness and optimize trajectory of projective homography-based uncalibrated visual servoing (PHUVS) proposed in our previous work, an analytical expression of optimal trajectory for camera in projective homography space is proposed in this article, which is totally free of camera parameters and is corresponding to camera’s shortest path in the 3-D space with straight path

This article reports an automated optically-induced dielectrophoresis (ODEP) system for characterizing the specific membrane capacitance (SMC) of individual cells. The simulation of cell motion is conducted to analyze the electrokinetic forces acting on the cell. A self-developed visual tracking algorithm for multicells is used to realize an automated process for determining the frequency-sweeping

Presents a listing of the editorial board, board of governors, current staff, committee members, and/or society editors for this issue of the publication.

These instructions give guidelines for preparing papers for this publication. Presents information for authors publishing in this journal.