This paper introduces a systematic approach to identifying a physically feasible set of robot dynamics parameters. The framework consists of four steps: 1) Identification of robot dynamics parameters using least squares combined with a linear friction model. 2) Construction of a weighting matrix based on the least squares identification error, and performing weighted least squares identification combined with the linear friction model. 3) Introduction of a nonlinear friction model to fit joint friction. 4) Optimization of the remaining robot dynamics parameters to adhere to physical feasibility constraints. Various combinations of identification methods with linear or nonlinear friction models are analyzed experimentally, using a 6-DoF industrial robot and a 7-DoF collaborative robot, respectively, to demonstrate the effectiveness of the proposed recognition framework. Experimental results affirm that the proposed method provides accurate estimates of the robot joint torques while maintaining the physical feasibility of the dynamics.

As current Noisy Intermediate Scale Quantum (NISQ) devices suffer from decoherence errors, any delay in the instruction execution of quantum control microarchitecture can lead to the loss of quantum information and incorrect computation results. Hence, it is crucial for the control microarchitecture to issue quantum operations to the Quantum Processing Unit (QPU) in time. As in classical microarchitecture, parallelism in quantum programs needs to be exploited for speedup. However, three challenges emerge in the quantum scenario: 1) the quantum feedback control can introduce significant pipeline stall latency; 2) timing control is required for all quantum operations; 3) QPU requires a deterministic operation supply to prevent the accumulation of quantum errors.

Industrial automation systems are under evolution that heterogeneous devices are cooperating with each other to provide self-management on the shop floor. The interconnected and intelligence-enabled distributed automation systems form Industrial Cyber-Physical System. In Industrial Cyber-Physical Systems, implementations from various vendors largely reduce reusability and interoperability. A system-level executable modeling language is compulsory for industrial cyber-physical systems for providing rapid design and development. The IEC 61499 standard with common interface function blocks provides a generic system-level modeling language. In this paper, distributed motion control applications are modeled using IEC 61499 function blocks to simplify the design process. TODO.