In the industrial field, the anthropomorphism of grasping robots is the trend of future development, however, the basic vision technology adopted by the grasping robot at this stage has problems such as inaccurate positioning and low recognition efficiency. Based on this practical problem, in order to achieve more accurate positioning and recognition of objects, an object detection method for grasping robot based on improved YOLOv5 was proposed in this paper. Firstly, the robot object detection platform was designed, and the wooden block image data set is being proposed. Secondly, the Eye-In-Hand calibration method was used to obtain the relative three-dimensional pose of the object. Then the network pruning method was used to optimize the YOLOv5 model from the two dimensions of network depth and network width. Finally, the hyper parameter optimization was carried out. The simulation results show that the improved YOLOv5 network proposed in this paper has better object detection performance. The specific performance is that the recognition precision, recall, mAP value and F1 score are 99.35%, 99.38%, 99.43% and 99.41% respectively. Compared with the original YOLOv5s, YOLOv5m and YOLOv5l models, the mAP of the YOLOv5_ours model has increased by 1.12%, 1.2% and 1.27%, respectively, and the scale of the model has been reduced by 10.71%, 70.93% and 86.84%, respectively. The object detection experiment has verified the feasibility of the method proposed in this paper.

Robot manipulator trajectory planning is one of the core robot technologies, and the design of controllers can improve the trajectory accuracy of manipulators. However, most of the controllers designed at this stage have not been able to effectively solve the nonlinearity and uncertainty problems of the high degree of freedom manipulators. In order to overcome these problems and improve the trajectory performance of the high degree of freedom manipulators, a manipulator trajectory planning method based on a radial basis function (RBF) neural network is proposed in this work. Firstly, a 6-DOF robot experimental platform was designed and built. Secondly, the overall manipulator trajectory planning framework was designed, which included manipulator kinematics and dynamics and a quintic polynomial interpolation algorithm. Then, an adaptive robust controller based on an RBF neural network was designed to deal with the nonlinearity and uncertainty problems, and Lyapunov theory was used to ensure the stability of the manipulator control system and the convergence of the tracking error. Finally, to test the method, a simulation and experiment were carried out. The simulation results showed that the proposed method improved the response and tracking performance to a certain extent, reduced the adjustment time and chattering, and ensured the smooth operation of the manipulator in the course of trajectory planning. The experimental results verified the effectiveness and feasibility of the method proposed in this paper.

Mobile edge computing (MEC) represents a promising computing paradigm within Artificial Intelligence Generated Content (AIGC), offering users instant, customized, and personalized services. However, with the continued growth of the AIGC user base and the expansion of service demands, edge computing nodes are required to handle an increasing number and complexity of offloading tasks, leading to significant energy consumption issues in edge systems. This paper introduces a distributed task offloading framework (EE-A2C) that utilizes the Advantage Actor-Critic algorithm to enhance energy efficiency in edge cloud environments. This framework facilitates distributed interactions among multiple agents and edge environments with communication queues, aiming to minimize average energy consumption and latency for AIGC users. Secondly, to achieve adaptive and efficient task offloading decisions, we have developed a complex reward-sharing model based on latency and energy consumption. Finally, we have also incorporated LSTM to enhance the model’s ability to capture critical information about energy consumption, thereby promoting more robust decision-making. Compared to eight state-of-the-art energy-saving algorithms, the proposed EE-A2C framework more effectively utilizes the computing power of edge nodes, significantly reduces average energy consumption and latency, and enhances the energy efficiency of the edge cloud system.

A well-organized path can assist unmanned aerial vehicles (UAVs) in performing tasks efficiently. The artificial fish swarm algorithm (AFSA) is a widely used intelligent optimization algorithm. However, the traditional AFSA exhibits issues of non-uniform population distribution and susceptibility to local optimization. Despite the numerous AFSA variants introduced in recent years, many of them still grapple with challenges like slow convergence rates. To tackle the UAV path planning problem more effectively, we present an improved AFSA algorithm (IAFSA), which is primarily rooted in the following considerations: (1) The prevailing AFSA variants have not entirely resolved concerns related to population distribution disparities and a predisposition for local optimization. (2) Recognizing the specific demands of the UAV path planning problem, an algorithm that can combine global search capabilities with swift convergence becomes imperative. To evaluate the performance of IAFSA, it was tested on 10 constrained benchmark functions from CEC2020; the effectiveness of the proposed strategy is verified on the UAV 3D path planning problem; and comparative algorithmic experiments of IAFSA are conducted in different maps. The results of the comparison experiments show that IAFSA has high global convergence ability and speed.

In order to improve the comprehensive performance of energy dispatching between different sites, the optimization research of particle swarm optimization (PSO) algorithm and ant colony optimization (ACO) algorithm is carried out. We proposed a new improved PSO‐ACO algorithm based on the idea of hybrid algorithm to solve the problem of poor energy dispatching efficiency between sites. First, the multiobjective performance indicators were introduced to transform the sites’ energy dispatching problem into a multiobjective optimization problem. Second, the vitality factor was introduced into the PSO strategy to solve the local optimal problem, and in the PSO‐ACO fusion strategy, the PSO routes were transformed into the ant colony enhancement pheromone to accelerate the accumulation speed of the ACO initial pheromone. Then, the angle guidance function was introduced into the state transition probability of the ACO strategy to improve the global search capability, and a high‐quality pheromone update rule was proposed to improve the convergence speed of the algorithm. Finally, simulation experiments were carried out on the improved PSO‐ACO algorithm, Min–Max Ant System (MMAS) algorithm, ACO algorithm, PSO algorithm, and PSO update algorithm in a variety of complex site scenarios. The simulation results show that the improved PSO‐ACO algorithm can plan a site energy dispatching route with shorter route, less time‐consuming, and higher security and realize the comprehensive and global optimization of energy dispatching.

The widespread application of AI-generated content (AIGC) services has driven demand for efficient computational resources, making effective task scheduling and computation offloading in edge computing (EC) environments a critical research topic. However, the high computational requirements and low latency demands of AIGC services, combined with the limitations of EC, present challenges for existing offloading methods, such as unstable decision making in dynamic task environments and resource overloading. Here, we propose a decentralized AIGC task offloading architecture within an IoT-assisted EC network to optimize the quality of AIGC services. In this architecture, we define a multiobjective joint optimization problem for AIGC task offloading, aiming to simultaneously optimize key performance metrics, such as task latency, energy efficiency, and load balancing. To address this problem, we introduce an improved proximal policy optimization (PPO)-based deep reinforcement learning (DRL) algorithm, named TOPPO. By incorporating a policy update step size constraint and a clipping mechanism, TOPPO significantly enhances the stability of the training process and reduces fluctuations during policy updates. Additionally, the algorithm integrates an LSTM model to improve its ability to handle temporal dependencies. Through continuous interaction between the model and the environment, the offloading strategy is iteratively updated to ensure that diverse AIGC tasks are efficiently executed on IoT devices or edge servers. Extensive simulations and performance evaluations demonstrate that the proposed method achieves significant improvements in task latency, energy consumption, and load management during AIGC task processing.