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arXiv 2025年

作者： An, Shan Meng, Ziyu Tang, Chao Zhou, Yuning Liu, Tengyu Ding, Fangqiang Zhang, Shufang Mu, Yao Song, Ran Zhang, Wei Hou, Zeng-Guang Zhang, Hong School of Electrical and Information Engineering Tianjin University Tianjin300072 China School of Control Science and Engineering Shandong University Jinan250061 China State Key Laboratory of General Artificial Intelligence Beijing100086 China Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China School of Informatics University of Edinburgh EH8 9AB United Kingdom Department of Computer Science University of Hong Kong 999077 Hong Kong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology 999078 China

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high-dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning (IL), details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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On modular-2q graphic groups of topological coding for graphic passwords

On modular-2q graphic groups of topological coding for graph...

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2020 IEEE International Conference on information Technology, Big Data and Artificial Intelligence, ICIBA 2020

作者： Zhao, Meimei Yao, Ming Yao, Bing College of Science Gansu Agricultural University Lanzhou730070 China Lanzhou Petrochemical College of Vocational Technology Department of Information Process and Control Engineering Lanzhou730060 China College of Mathematics and Statistics Northwest Normal University Lanzhou730070 China

ISBN: (纸本)9781728152240

Since encrypting networks wholly by graphic groups, we will define a new labelling, called modular-2q mixed odd-graceful labelling, and build up various graphic groups based on the modular-2q mixed odd-graceful labelling. We will show: the necessity and sufficiency of subgroup of a graphic group;a (p, q) -graph G admitting a modular-2q mixed(negative) odd-graceful labelling can generate a graphic group, and moreover these graphs form an Abelian additive graphic group. A (p, q) -graph G admits a modular-2q odd-graceful labelling f generate 2q vertex-modular graphs, each of them generates 2q edge-modular graphs, which form an Abelian additive graphic group, similar results can be obtained for modular-2q negative odd-graceful graph and modular-2q mixed odd-graceful graph. © 2020 IEEE.

关键词： Additives

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Analysis and control of autonomous mobility-on-demand systems

arXiv

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arXiv 2021年

作者： Zardini, Gioele Lanzetti, Nicolas Pavone, Marco Frazzoli, Emilio Institute for Dynamic Systems and Control Department of Mechanical and Process Engineering ETH Zürich Zürich Switzerland Automatic Control Laboratory Department of Information Technology and ElectricalEngineering ETH Zürich Zürich Switzerland Autonomous Systems Lab Department of Aeronautics and Astronautics Stanford University StanfordCA United States

Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research. © 2021, CC BY-NC-ND.

关键词： Autonomous vehicles

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Spatial variations in CO2 fluxes in a subtropical coastal reservoir of Southeast China were related to urbanization and land-use types

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Journal of Environmental Sciences 2021年第11期33卷 206-218页

作者： Yifei Zhang Min Lyu Ping Yang Derrick Y.F.Lai Chuan Tong Guanghui Zhao Ling Li Yuhan Zhang Hong Yang Key Laboratory of Humid Subtropical Eco-geographical Process of Ministry of Education Fujian Normal UniversityFuzhou 350007China School of Geographical Sciences Fujian Normal UniversityFuzhou 350007China Key Laboratory of Wetland Ecology and Environment Northeast Institute of Geography and AgroecologyChinese Academy of SciencesChangchun 130102China School of Urban and Rural Construction Shaoyang UniversityShaoyang 422000China Department of Geography and Resource Management The Chinese University of Hong KongHong KongChina College of Environmental Science and Engineering Fujian Normal UniversityFuzhou 350007China Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control(AEMPC)School of Environmental Science and EngineeringNanjing University of Information Science and TechnologyNanjing 210044China Department of Geography and Environmental Science University of ReadingReading RG66AB United Kingdom

Carbon dioxide(CO_(2))emissions from aquatic ecosystems are important components of the global carbon cycle,yet the CO_(2)emissions from coastal reservoirs,especially in developing countries where urbanization and rapid land use change occur,are still poorly *** this study,the spatiotemporal variations in CO_(2)concentrations and fluxes were investigated in Wenwusha Reservoir located in the southeast coast of ***,the mean CO_(2)concentration and flux across the whole reservoir were 41.85±2.03μmol/L and 2.87±0.29 mmol/m2/h,respectively,and the reservoir was a consistent net CO_(2)source over the entire *** land use types and urbanization levels in the reservoir catchment significantly affected the input of exogenous carbon *** mean CO_(2)fluxwasmuch higher from waters adjacent to the urban land(5.05±0.87 mmol/m2/hr)than other land use *** with larger input of exogenous substance via sewage discharge and upstream runoff were often the hotspots of CO_(2)emission in the *** results suggested that urbanization process,agricultural activities,and large input of exogenous carbon could result in large spatial heterogeneity of CO_(2)emissions and alter the CO_(2)biogeochemical cycling in coastal *** studies should characterize the diurnal variations,microbial mechanisms,and impact of meteorological conditions on reservoir CO_(2)emissions to expand our understanding of the carbon cycle in aquatic ecosystems.

关键词： Carbon dioxide fluxes Spatiotemporal dynamics Land use Urbanization Anthropogenic activities Coastal reservoir

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The 2022 report of synergetic roadmap on carbon neutrality and clean air for China:Accelerating transition in key sectors

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Environmental Science and Ecotechnology 2024年第3期19卷 4-18页

作者： Yu Lei Zhicong Yin Xi Lu Qiang Zhang Jicheng Gong Bofeng Cai Cilan Cai Qimin Chai Huopo Chen Renjie Chen Shi Chen Wenhui Chen Jing Cheng Xiyuan Chi Hancheng Dai Xiangzhao Feng Guannan Geng Jianlin Hu Shan Hu Cunrui Huang Tiantian Li Wei Li Xiaomei Li Jun Liu Xin Liu Zhu Liu Jinghui Ma Yue Qin Dan Tong Xuhui Wang Xuying Wang Rui Wu Qingyang Xiao Yang Xie Xiaolong Xu Tao Xue Haipeng Yu Da Zhang Ning Zhang Shaohui Zhang Shaojun Zhang Xian Zhang Xin Zhang Zengkai Zhang Bo Zheng Yixuan Zheng Jian Zhou Tong Zhu Jinnan Wang Kebin He Center of Air Quality Simulation and System Analysis Chinese Academy of Environmental PlanningBeijing100041China Center for Carbon Neutrality Chinese Academy of Environmental PlanningBeijing100041China Key Laboratory of Meteorological Disaster Ministry of Education/Joint International Research Laboratory of Climate and Environment Change(ILCEC)/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)Nanjing University of Information Science&TechnologyNanjing210044China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China Institute for Carbon Neutrality Tsinghua UniversityBeijing100084China Ministry of Education Key Laboratory for Earth System Modelling Department of Earth System ScienceTsinghua UniversityBeijing100084China State Key Joint Laboratory for Environment Simulation and Pollution Control College of Environmental Sciences and Engineering and Center for Environment and HealthPeking UniversityBeijing100871China National Center for Climate Change Strategy and International CooperationBeijing100035China Nansen-Zhu International Research Centre Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing100029China School of Public Health Key Lab of Public Health Safety of the Ministry of Education and Key Lab of Health Technology Assessment of the Ministry of HealthFudan UniversityShanghai200032China School of Economics and Management Beijing University of Chemical TechnologyBeijing100029China Department of Earth System Science University of CaliforniaIrvineCA92697USA National Meteorological Center China Meteorological AdministrationBeijing100081China College of Environmental Sciences and Engineering Peking UniversityBeijing100871China Policy Research Center for Environment and Economy Ministry of Ecology and Environment of the People's Republic of ChinaBeijing100029China Jiangsu Key Laboratory of Atmospheric Environment Monitoring

China is now confronting the intertwined challenges of air pollution and climate *** the high synergies between air pollution abatement and climate change mitigation,the Chinese government is actively promoting synergetic control of these two *** Synergetic Roadmap project was launched in 2021 to track and analyze the progress of synergetic control in China by developing and monitoring key *** Synergetic Roadmap 2022 report is the first annual update,featuring 20 indicators across five aspects:synergetic governance system and practices,progress in structural transition,air pollution and associated weather-climate interactions,sources,sinks,and mitigation pathway of atmospheric composition,and health impacts and benefits of coordinated *** to the comprehensive review presented in the 2021 report,the Synergetic Roadmap 2022 report places particular emphasis on progress in 2021 with highlights on actions in key sectors and the relevant *** milestones include the proportion of non-fossil power generation capacity surpassing coal-fired capacity for the first time,a decline in the production of crude steel and cement after years of growth,and the surging penetration of electric ***,in 2022,China issued the first national policy that synergizes abatements of pollution and carbon emissions,marking a new era for China's pollution-carbon *** changes highlight China's efforts to reshape its energy,economic,and transportation structures to meet the demand for synergetic control and sustainable ***,the country has witnessed a slowdown in carbon emission growth,improved air quality,and increased health benefits in recent years.

关键词： Synergetic roadmap Carbon neutrality Clean air

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Self-Optimizing Grinding Machines using Gaussian process Models and Constrained Bayesian Optimization

arXiv

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arXiv 2020年

作者： Maier, Markus Rupenyan, Alisa Bobst, Christian Wegener, Konrad AG Zurich Switzerland Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Switzerland Agathon AG Bellach Switzerland Institute for Machine Tools Department of Mechanical and Process Engineering ETH Zurich Switzerland

In this study, self-optimization of a grinding machine is demonstrated with respect to production costs, while fulfilling quality and safety constraints. The quality requirements of the final workpiece are defined with respect to grinding burn and surface roughness, and the safety constrains are defined with respect to the temperature at the grinding surface. Grinding temperature is measured at the contact zone between grinding wheel and workpiece using a pyrometer and an optical fiber, which is embedded inside the rotating grinding wheel. Constrained Bayesian optimization combined with Gaussian process models is applied to determine the optimal feed rate and cutting speed of a cup wheel grinding machine manufacturing tungsten carbide cutting inserts. The approach results in the determination of optimal parameters for unknown workpiece and tool combinations after only a few grinding trials. It also incorporates the uncertainty of the constraints in the prediction of optimal parameters by using stochastic process models1. Copyright © 2020, The Authors. All rights reserved.

关键词： Grinding (machining)

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Regret and Cumulative Constraint Violation Analysis for Distributed Online Constrained Convex Optimization

arXiv

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arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm10044 Sweden The Digital Futures Stockholm10044 Sweden The Department of Control Science and Engineering College of Electronics and Information Engineering The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore

This paper considers the distributed online convex optimization problem with time-varying constraints over a network of agents. This is a sequential decision making problem with two sequences of arbitrarily varying convex loss and constraint functions. At each round, each agent selects a decision from the decision set, and then only a portion of the loss function and a coordinate block of the constraint function at this round are privately revealed to this agent. The goal of the network is to minimize the network-wide loss accumulated over time. Two distributed online algorithms with full-information and bandit feedback are proposed. Both dynamic and static network regret bounds are analyzed for the proposed algorithms, and network cumulative constraint violation is used to measure constraint violation, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. In particular, we show that the proposed algorithms achieve O(T max{κ,1-κ}) static network regret and O(T 1-κ/2) network cumulative constraint violation, where T is the time horizon and κ ∈ (0, 1) is a user-defined trade-off parameter. Moreover, if the loss functions are strongly convex, then the static network regret bound can be reduced to O(T κ). Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Economic and social effects

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Regret and cumulative constraint violation analysis for online convex optimization with long term constraints

arXiv

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arXiv 2021年

作者： Yi, Xinlei Li, Xiuxian Yang, Tao Xie, Lihua Chai, Tianyou Johansson, Karl H. School of Electrical Engineering and Computer Science and Digital Futures KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering College of Electronics and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Institute for Advanced Study Tongji University Shanghai China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore

This paper considers online convex optimization with long term constraints, where constraints can be violated in intermediate rounds, but need to be satisfied in the long run. The cumulative constraint violation is used as the metric to measure constraint violations, which excludes the situation that strictly feasible constraints can compensate the effects of violated constraints. A novel algorithm is first proposed and it achieves an O(Tmax{c,1-c}) bound for static regret and an O(T (1-c)/2) bound for cumulative constraint violation, where c ϵ (0, 1) is a user-defined trade-off parameter, and thus has improved performance compared with existing results. Both static regret and cumulative constraint violation bounds are reduced to O(log(T )) when the loss functions are strongly convex, which also improves existing results. In order to achieve the optimal regret with respect to any comparator sequence, another algorithm is then proposed and it achieves the optimal O( p T (1 + PT )) regret and an O(√T) cumulative constraint violation, where PT is the path-length of the comparator sequence. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Comparators (optical)

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Run-to-run trajectory prediction of uneven-length batch processes using DTW-LSTM 8

Run-to-run trajectory prediction of uneven-length batch proc...

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8th IEEE Data Driven control and Learning Systems Conference, DDCLS 2019

作者： Shen, Feifan Ye, Lingjian Fan, Saite Ge, Zhiqiang Song, Zhihuan Key Laboratory of Advanced Process Control for Light Industry Jiangnan University Ministry of Education Wuxi214122 China Ningbo Institute of Technology Zhejiang University Department of Information Technology and Engineering Ningbo315100 China State Key Laboratory of Industrial Control Technology Zhejiang University Department of Control Science and Engineering Hangzhou310027 China

ISBN: (纸本)9781728114545

This paper handles with the problem of the run-to-run trajectory prediction of batch processes with uneven batch length. Most current data-driven works focus on the run-to-run variations during both batch trajectory modeling and prediction stages. However, batch-to-batch correlations should be drawn extreme attentions to when gradual changes exist in batch sequence. To obtain a better batch trajectory prediction performance of uneven-length batch processes, dynamic time warping (DTW) and long-short term memory (LSTM) neural network are introduced in this work to extract batch-to-batch correlations. Firstly, the recursive DTW is used to synchronize uneven batch samples. Then, the LSTM neural network is introduced to extract the run-to-run batch correlations during the trajectory modeling stage. Finally, online batch trajectory prediction can be implemented according to the offline LSTM model. A simulation based on the fed-batch penicillin fermentation process is provided to testify the effectiveness of the proposed method. © 2019 IEEE.

关键词： Long short-term memory

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The accuracy determination of landslide cone terrain mapping by the UAV photogrammetry in High Tatras 11

The accuracy determination of landslide cone terrain mapping...

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11th International Scientific and Technical Conference on Geodesy, Cartography and Geoinformatics, GCG 2019

作者： Štroner, M. Urban, R. Blišťan, P. Kovanič, L. Patera, M. Department of Special Geodesy Faculty of Civil Engineering CTU Prague Czech Republic Institute of Geodesy Cartography and Geographical Information Systems Faculty of Mining Ecology Process Control and Geotechnology TU Košice Slovakia

ISBN: (纸本)9780367346515

Mass data collection technologies are widely used today and allow very detailed capturing of virtually any objects, including the Earth’s surface, for example for monitoring changes. Increasingly, UAV photogrammetry is used not only in geodesy for this purpose, it provides significant advantages in the mapping of complex landslide-type objects compared to terrestrial surveying methods, including 3D scanning. The paper presents a test of the precision of the mapping of the surface of the stonefield landslide in the Little Cold Valley in the High Tatras made by UAV photogrammetry by comparing its results with the point cloud acquired by the Leica P40 terrestrial 3D scanner. The evaluation not only considers the accuracy of the result, but also compares the cost-effectiveness of the measurement as well as the cost of acquiring the necessary equipment. Measured terrain is very specific, rugged, it is formed by boulders of the size of meters over smaller stones to gravel and sand. The slope of the terrain is also extreme. Evaluating the cost-effectiveness and meticulousness of the measurement will stand out more than in normal situations, as the measurement took place in a national park where all equipment, devices and personal baggage need to be transported by human power. At the same time, the movement in the stone field is even more difficult. It has been found that the methods compared are practically equal in terms of precision, but drone photogrammetry is clearly better in terms of labor and economy. © 2020 Taylor & Francis Group, London.

关键词： Photogrammetry

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