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arXiv 2022年

作者： Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point’s movement. Scene flow estimation is used in various applications such as autonomous driving fields, activity recognition, and virtual reality fields. As it is challenging to annotate scene flow with ground truth for real-world data, this leaves no real-world dataset available to provide a large amount of data with ground truth for scene flow estimation. Therefore, many works use synthesized data to pre-train their network and real-world LiDAR data to finetune. Unlike the previous unsupervised learning of scene flow in point clouds, we propose to use odometry information to assist the unsupervised learning of scene flow and use real-world LiDAR data to train our network. Supervised odometry provides more accurate shared cost volume for scene flow. In addition, the proposed network has mask-weighted warp layers to get a more accurate predicted point cloud. The warp operation means applying an estimated pose transformation or scene flow to a source point cloud to obtain a predicted point cloud and is the key to refining scene flow from coarse to fine. When performing warp operations, the points in different states use different weights for the pose transformation and scene flow transformation. We classify the states of points as static, dynamic, and occluded, where the static masks are used to divide static and dynamic points, and the occlusion masks are used to divide occluded points. The mask-weighted warp layer indicates that static masks and occlusion masks are used as weights when performing warp operations. Our designs are proved to be effective in ablation experiments. The experiment results show the promising prospect of an odometry-assisted unsupervised learning method for 3D scene flow in real-world data. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep learning

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Rethinking development and major research plans of Industrial Internet in China

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Fundamental Research 2024年第1期4卷 3-7页

作者： Chunxiao Jiang Yang Cong Jiming Chen Chenghong Wang Guozheng Wu Ruizhen Zhao Zhiheng Wang Bin Xiao Ting Chen Beijing National Research Center for Information Science and Technology Tsinghua UniversityBeijing 100084China Tsinghua Space Center Tsinghua UniversityBeijing 100084China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China College of Control Science and Engineering Zhejiang UniversityHangzhou 310027China Division III Department of Information SciencesNational Natural Science Foundation of ChinaBeijing 100085China Division II Department of Information SciencesNational Natural Science Foundation of ChinaBeijing 100085China Chongqing Key Laboratory of Image Cognition School of Computer Science and TechnologyChongqing University of Posts and TelecommunicationsChongqing 400065China University of Electronic Science and Technology of China Chengdu 611731China

This paper gives a definition of the Industrial Internet and expounds on the academic connotation of the future Industrial *** this foundation,we outline the development and current status of the Industrial Internet in China and ***,we detail the avant-garde paradigms encompassed within the National Natural Science Foundation of China(NSFC)’s“Future Industrial Internet Fundamental Theory and Key Technologies”research plan and its corresponding management *** research initiative endeavors to enhance interdisciplinary collaborations,aiming for a synergistic alignment of industry,academia,research,and practical *** primary focus of the research plan is on the pivotal scientific challenges inherent to the future industrial *** is poised to traverse the“first mile”,encompassing foundational research and pioneering innovations specific to the industrial internet,and seamlessly bridges to the“last mile”,ensuring the effective commercialization of scientific and technological breakthroughs into tangible industrial market *** anticipated contributions from this initiative are projected to solidify both the theoretical and practical scaffolding essential for the cultivation of a globally competitive industrial internet infrastructure in China.

关键词： Industrial Internet Academic connotation Major research plan Scientific problem Policy advice

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Dual Role of Pulmonary Surfactant Corona in Modulating Carbon Nanotube Toxicity and Benzo[A]Pyrene Bioaccessibility

SSRN

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SSRN 2023年

作者： Luo, Zhen Xu, Dongfang Xu, Yan Zhao, Jian Hu, Guoqing Yue, Tongtao Department of Engineering Mechanics State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou310027 China Institute of Coastal Environmental Pollution Control Key Laboratory of Marine Environment and Ecology Ministry of Education Frontiers Science Center for Deep Ocean Multispheres and Earth System Ocean University of China Qingdao266100 China College of Electronic Engineering and Automation Shandong University of Science and Technology Qingdao266590 China

Inhaled carbon nanotubes (CNTs) can deposit in the deep lung, where they interact with pulmonary surfactant (PS) to form coronas, potentially altering the fate and toxicity profile of CNTs. However, the presence of other contaminants in combination with CNTs may affect these interactions. In this study, we investigated the effects of coexisting contaminants, specifically benzo[a]pyrene (BaP), on the interaction between CNTs and PS. We used passive dosing and fluorescence-based techniques to demonstrate that PS increases the solubility of BaP pre-adsorbed on CNTs. Subsequently, molecular dynamics simulations were performed to gain insight into the intricate interactions between CNTs, BaP, and PS. Our results suggest that the PS corona plays a dual role in modulating the toxicity of CNTs. First, it mitigates toxicity by reducing the hydrophobicity and apparent aspect ratio of CNTs. Second, it exacerbates toxicity due to energetically dominant PS-BaP interactions, which increase the solubility and thus bioaccessibility of BaPs. Importantly, these interactions are strongly influenced by the size and aggregation state of the CNTs. Our findings highlight the need to consider the bioaccessibility of coexisting contaminants when assessing the inhalation toxicity of PS-modified CNTs. © 2023, The Authors. All rights reserved.

关键词： Toxicity

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Distributed Adaptive Nash Equilibrium Seeking for Multiagent Games Under Time-Varying Networks

Distributed Adaptive Nash Equilibrium Seeking for Multiagent...

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Asian control Conference

作者： Xu Duan Tiantian Xu Zhuping Wang Hao Zhang Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai PR China Department of Control Science and Engineering College of Electronic and Information Engineering Tongji University Shanghai PR China National Key Laboratory of Autonomous Intelligent Unmanned Systems Shanghai Shanghai PR China Frontiers Science Center for Intelligent Autonomous System of Ministry of Education PR China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This paper examines the Nash equilibrium seeking (NES) problem in non-cooperative games involving multiagent systems operating within time-varying networks. The system being studied encompasses unmeasured states and unknown nonlinear functions. To address this, an adaptive NES algorithm is developed using gradient play and a distributed backstepping approach. Additionally, a fuzzy logic system is employed to compensate external disturbance, and an adaptive distributed observer is proposed to share non-neighbor states and facilitate information sharing within the context of a time-varying network. The convergence of the proposed approach is rigorously proven by leveraging the principles of Lyapunov stability theory. The effectiveness of the proposed method is confirmed through a comprehensive analysis of simulation results and physical experiments.

关键词： Fuzzy logic Backstepping Intelligent vehicles Simulation Games Observers Nash equilibrium

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Muscle-Synergy-Based Planning and Neural-Adaptive control for a Prosthetic Arm

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2021年第5期2卷 424-436页

作者： Li, Guoxin Li, Zhijun Li, Junjun Liu, Yueyue Qiao, Hong The Department of Automation University of Science and Technology of China Hefei230026 China The Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei230026 China The School of Automation Science and Engineering South China University of Technology Guangzhou511442 China The State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The Center for Excellence in Brain Science and Intelligence Technology Institute of Neuroscience Chinese Academy of Science Shanghai200031 China

Upper limb loss has significant effects on the individual's quality of life. Artificial prosthetic limbs as an alternative to the lost limb are designed to allow amputees to regain motor function. Motion classification via extracted surface electromyogram (sEMG) signals is widely utilized to realize a friendly human-robot interface in the control of the prosthesis. However, limited classification of discrete motion patterns from sEMG prevents intuitive motor control. Thus, instead of using discrete patterns, decoding the human intention continuously from sEMG would significantly benefit the prosthesis control. In this article, we propose a muscle-synergy-based intention decoding and motion planning that can model a broad set of complex upper limb movements as a combination of motor primitives. A novel muscle activation-to-force mapping model is developed to detect muscular effort of the healthy side to drive the affected side. A neural-network-approximation-based controller is developed for the bionic neuroprosthetic arm to execute the movement. Operational experiments with prosthetic movement control were performed on four healthy participants and an upper limb amputee participant. Results of controlling prosthetic arm (0.94 ± 0.02 of R2 in the horizontal reaching tasks and 0.95 ± 0.01 in the vertical reaching tasks for the healthy subjects, 0.95 and 0.97 for the amputee) demonstrate that our control method could successfully capture human movement intention and effectively control the movement of prosthesis. Impact Statement-Powered robotic prostheses have enabled individuals with limb amputations to regain motor function via motion intention decoding from extracting surface electromyogram signals. Most research works have provided human-robot interaction through motion classification obtained from pattern recognition using surface electromyogram signals and simple movement control. However, decoding the human intent continuously from surface electromyogram is con

关键词： Matrix algebra

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An MPC-based cooperative control approach for separated power electric multiple units

An MPC-based cooperative control approach for separated powe...

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International Conference on Intelligent Transportation

作者： Zixuan Zhang Yuan Cao Shuai Su Junlin Zhang Wei Wang School of Electric and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Rail Traffic Control and Safety and the Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University Beijing China Traffic Control Technology Co. Ltd Beijing China Department of Automation Traffic Control Technology Co. Ltd Tsinghua University Beijing China

The integrated control of separated power electric multiple units (EMUs) and cars is a significant research field, the cars cooperative control problem of the separated power EMUs is investigated in this paper. Firstly, assuming that the separated power EMUs are composed of different numbers of powered cars and trailer cars connected by elastic couplers, and considering the electric traction/braking force, air braking force, and nonlinear basic resistance, a multi-particle model is established. Then a novel cost function is designed considering speed and position tracking errors, in-train force, traction energy consumption, and regenerative energy. Based on the model predictive control (MPC) methodology, a cooperative control approach is proposed to optimize the operation performance of separated power EMUs. The proposed control approach can improve EMUs tracking accuracy, and reduce internal force and net energy consumption during EMUs operation. Finally, the proposed approach is verified by numerical simulations.

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FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection

arXiv

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arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Wu, Jinxing Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China The Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D object detection. In this paper, first, unstructured 3D point clouds are filled in the 2D plane and 3D point cloud features are extracted faster using projection-aware convolution layers. Further, the corresponding indexes between different sensor signals are established in advance in the data preprocessing, which enables faster cross-modal feature fusion. To address LiDAR points and image pixels misalignment problems, two new plug- and-play fusion modules, LiCamFuse and BiLiCamFuse, are proposed. In LiCamFuse, soft query weights with perceiving the Euclidean distance of bimodal features are proposed. In BiLiCamFuse, the fusion module with dual attention is proposed to deeply correlate the geometric and textural features of the scene. The quantitative results on the KITTI dataset demonstrate that the proposed method achieves better feature-level fusion. In addition, the proposed network shows a shorter running time compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Design and Simulation of Millimeter-Wave Magnetrons 3

Design and Simulation of Millimeter-Wave Magnetrons

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3rd IEEE Ukraine Conference on Electrical and Computer engineering, UKRCON 2021

作者： Kopot, Mykhailo Kobzev, Igor Chetverykov, Grigorij Gritsunov, Alexander Bilotserkivska, Anzhela Kharkiv National University of Radio Electronics Department of Software Engineering Kharkiv Ukraine V.N.Karazin Kharkiv National University Department of Information Technologies and Control System Kharkiv Ukraine Kharkiv National University of Radio Electronics Department of Microelectronics Electronic Devices and Appliances Kharkiv Ukraine

ISBN: (纸本)9781665400947

Specific features and problems of the design of millimeter-wave magnetrons are described. Cold secondary-emission cathode usage is considered as a promising factor for the device life prolongation. Field-emission cathodes instead of thermionic ones are proposed as the trigger units for further increase of the magnetron working life. The problems of ensuring enough frequency separation between the operating eigenmode and neighboring modes are discussed;using the rising-sun delay system and operating on spatial harmonics are proposed as possible solutions. The methods of providing enough emitting current from cathodes without their fast burnout are considered;the solution of the problem could lie in using inverted design of the magnetron. Examples of 'cold' (electrodynamic) calculations of the delay systems of millimeter-wave magnetrons are given. 'Hot' (electronic) simulations with PIC algorithms have been performed using TULIPgm code for magnetron and amplitron modeling. © 2021 IEEE.

关键词： Millimeter waves

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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Cyber-Physical Social Intelligence (ICCSI), International Conference on

作者： Jialiang Luo Shichao Chen Yisheng Lv Wenqiao Sun Fan Yang Ruijie Xu The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University Jinan China Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Hong Kong China

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field.

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Hybrid Unmanned Aerial Underwater Vehicles: A Survey on Concepts and Technologies

SSRN

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SSRN 2023年

作者： Pinheiro, Pedro Miranda Dias de Oliveira Evald, Paulo Jefferson Grando, Ricardo Bedin Neto, Armando Alves Jorge Drews, Paulo Lilles Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Intelligent Systems and Control Group Federal University of Pelotas Pelotas Brazil Department of Robotics Technological University of Uruguay Rivera Uruguay Department of Electronic Engineering Federal University of Minas Gerais Belo Horizonte Brazil

Hybrid Unmanned Aerial Underwater Vehicle (HUAUV) is a class of multi-modal mobile robots characterized by the ability to fly and navigate underwater, as well as being able to perform the transition between both environments. The development of modern vehicles of this class is driven by the enhancement of mobile robotic systems, sensors, and control techniques. However, the class definition and hierarchy for these vehicles are still vague and undefined. Therefore, this work presents a survey of concepts and prototypes of HUAUVs, developed from 2010 until 2022. The search for works was performed in relevant international conference proceedings and journals. We present a classification of state-of-the-art concepts and prototypes of HUAUVs based on specific main features of vehicles, allowing the identification of trends in HUAUV development, and an actuator-based taxonomy for HUAUVs. Hence, our categorization provides a more cohesive background for future works, as well as a better understanding of the main features of hybrid vehicles. Finally, a pragmatic approach to future applications is provided, given the current trends in Mobile Robotics, focusing on unmanned aerial/underwater vehicles. © 2023, The Authors. All rights reserved.

关键词： Antennas

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