In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%.

Image semantic segmentation is one of the key problems in computer vision. Despite the enormous advances in applications, almost all the image semantic segmentation algorithms fail to achieve satisfactory segmentation results due to lack of sensitivity to details, or difficulty in evaluating the global similarity of pixels, or both. Posting-processing enhancement methods, as the outstandingly crucial means to ameliorate the above-mentioned inherent flaws of algorithms, are almost based on conditional random fields (CRFs). Inspired by CRFs, this paper proposes a novel post-processing enhancement framework with theoretical simplicity from the perspective of filtering, and a new weighted composite filter (WCF) is designed to enhance the segmentation masks in a unified framework. First, by adjusting the weight ratio, the WCF is decomposed into a local part and a global part. Secondly, a guided image filter is designed as the local filter, which can restore boundary information to present necessary details. Moreover, a minimum spanning tree (MST)-based filter is designed as the global filter to provide a natural measure of global pixel similarity for image matching. Thirdly, a unified post-processing enhancement framework, including selection and normalization, WCF and argmax, is designed. Finally, the effectiveness and superiority of the proposed method for enhancement, as well as its range of applications, are verified through experiments.

With the rapid development of smart devices and the Internet of Things (IoT), the explosive growth of data has placed increasingly higher demands on real-time processing and intelligent decision making. Cloud-edge collaborative computing has emerged as a mainstream architecture to address these challenges. However, in sky-ground integrated systems, the limited computing capacity of edge devices and the inconsistency between cloud-side fusion results and edge-side detection outputs significantly undermine the reliability of edge inference. To overcome these issues, this paper proposes a cloud-edge collaborative model adaptation framework that integrates deep reinforcement learning via Deep Q-Networks (DQN) with local feature transfer. The framework enables category-level dynamic decision making, allowing for selective migration of classification head parameters to achieve on-demand adaptive optimization of the edge model and enhance consistency between cloud and edge results. Extensive experiments conducted on a large-scale multi-view remote sensing aircraft detection dataset demonstrate that the proposed method significantly improves cloud-edge consistency. The detection consistency rate reaches 90%, with some scenarios approaching 100%. Ablation studies further validate the necessity of the DQN-based decision strategy, which clearly outperforms static heuristics. In the model adaptation comparison, the proposed method improves the detection precision of the A321 category from 70.30% to 71.00% and the average precision (AP) from 53.66% to 53.71%. For the A330 category, the precision increases from 32.26% to 39.62%, indicating strong adaptability across different target types. This study offers a novel and effective solution for cloud-edge model adaptation under resource-constrained conditions, enhancing both the consistency of cloud-edge fusion and the robustness of edge-side intelligent inference.

This paper proposes a saturated output feedback controller for flexible-joint robot manipulators with joints of arbitrary flexibility. First, under the framework of singular perturbation theory, a saturated flexible compensator is introduced in the dynamics model to enlarge the joint stiffness and achieve a united control for the robot with joints of arbitrary flexibility. Meanwhile, the saturation problem of torque control is also addressed. Second, an extended Kalman filter (EKF) with adaptive high gain that combines the noise filter of EKF with global convergence of high-gain observer is presented to enable the output feedback tracking control without the velocity of the link side or the motor side. Third, explicit but strict stability analyses of the whole system in both full-state feedback and output feedback are given. Finally, simulation comparisons are provided to verify the effectiveness of the proposed approach.