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Chinese Automation Congress (CAC)

作者： Xin Li Chao Zhai Hehong Zhang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan Campus School of Automation Wuhan China School of Computer and Data Science Fuzhou University Fuzhou China

Considering the actual multi-agent coverage process, the motion trajectories are seriously affected by disturbances and noise. In this paper, a cooperative control method based on active disturbance rejection controller (ADRC) for multiple mecanum-wheeled robots (MWMR) is proposed to improve its robustness. In particular, to suppress the total disturbances during the running of each robot and reduce large computation and observation cost of high order ADRC, a reduced-order cascaded ADRC (RC-ADRC) is proposed. Moreover, distributed controller is proposed to track the expected trajectories of multiple mecanum-wheeled robots under disturbances. Compared with the proposed RC-ADRC based cooperative control scheme and PID based cooperative control one, the favorable motion trajectory tracking performance is obtained. Simulation results verify the superiority of the method.

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Practical Quantum Circuit Implementation for Simulating Coupled Classical Oscillators

arXiv

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arXiv 2025年

作者： Luangsirapornchai, Natt Sanglaor, Peeranat Sornsaeng, Apimuk Bressan, Stéphane Chotibut, Thiparat Suksen, Kamonluk Chongstitvatana, Prabhas Department of Computer Engineering Faculty of Engineering Chulalongkorn University Bangkok10330 Thailand Chula Intelligent and Complex Systems Lab Department of Physics Faculty of Science Chulalongkorn University Bangkok10330 Thailand Science Mathematics and Technology Cluster Singapore University of Technology and Design 8 Somapah Road 487372 Singapore School of Computing National University of Singapore 13 Computing Drive Singapore117417 Singapore

Simulating large-scale coupled-oscillator systems presents substantial computational challenges for classical algorithms, particularly when pursuing first-principles analyses in the thermodynamic limit. Motivated by the quantum algorithm framework proposed by Babbush et al. [1], we present and implement a detailed quantum circuit construction for simulating one-dimensional spring-mass systems. Our approach incorporates key quantum subroutines, including block encoding, quantum singular value transformation (QSVT), and amplitude amplification, to realize the unitary time-evolution operator associated with simulating classical oscillators dynamics. In the uniform spring-mass setting, our circuit construction requires a gate complexity of (formula presented), where N is the number of oscillators and Ε is the target accuracy of the approximation. For more general, heterogeneous spring-mass systems, the total gate complexity is O(N log2 N log2(1/Ε)). Both settings require O(log2 N) qubits. Numerical simulations agree with classical solvers across all tested configurations, indicating that this circuit-based Hamiltonian simulation approach can substantially reduce computational costs and potentially enable larger-scale many-body studies on future quantum hardware. © 2025, CC0.

关键词： Hamiltonians

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Energy Efficiency Prediction Model of Suction Hopper Dredger Based on Correlation Analysis and Convolutional Neural Network

Energy Efficiency Prediction Model of Suction Hopper Dredger...

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IEEE International Conference on Mechatronics and Automation

作者： Jinyue Zhang Liheng Chen Daqing Qin College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Macau China State Key Laboratory of Hydro-power Equipment Harbin China Harbin Electric Machinery Company Limited Harbin China

Suction hopper dredgers are the main type of ship used in dredging projects. Due to the complex dynamic characteristics of the dredging process and the fact that the power consumption characteristics of dredgers are affected by many factors such as soil, meteorological environment, and hydrology, it is difficult to obtain accurate prediction results using traditional methods. This paper proposes a data extraction method based on correlation analysis to filter out the most critical influencing features from a large amount of data that affects the working efficiency of dredgers. An energy efficiency prediction model is established using convolutional neural network method to estimate the actual production efficiency of bucket-wheel dredgers and applied to actual production cases. The results show that the energy efficiency prediction model established using this method can effectively predict the power consumption of suction hopper dredgers.

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A Little Chit-Chat Goes a Long Way: Design and Evaluation of Task-and Person-Oriented Styles for Social Robots

A Little Chit-Chat Goes a Long Way: Design and Evaluation of...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Elie Saad Joost Broekens Mark A. Neerincx Department of Intelligent Systems Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Delft The Netherlands School of Engineering Holy Spirit University of Kaslik Jounieh Lebanon The Leiden Institute of Advanced Computer Science Leiden University Leiden The Netherlands The Netherlands Organization for Applied Scientific Research (TNO) Soesterberg The Netherlands

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Whereas the reception task is a promising application domain for social robots, knowledge is lacking about how to design the appropriate re-usable communication styles for a reception robot. This paper presents the use and evaluation of an iterative interaction-design (ID) method with which task- and person-oriented multi-modal communication styles have been designed for such a robot. First, we report on an evaluation study of the ID-method with Industrial Design students (N =13) who designed these two communication styles for a Pepper robot. This provided a set of distinct designs of the two styles, for which the differences in design parameters were in line with social science theory. The task-oriented style showed a more formal, shorter and less chatty communication. Second, we present findings from a Mechanical Turk study conducted to evaluate the perception of these style designs. Participants (N =301) were presented with videos showing the robot acting as a receptionist and were asked to rate their perception of the robot, the service experience and the orientation of the designs. Overall, the interaction with the robot was appreciated well. The robot with a person-oriented style was perceived to be more animate and likeable. Analysis showed that chit-chat was the main contributor to the perceived difference between the person-oriented and task-oriented styles. This is an important finding as it gives interaction designers a validated best-practice approach to make interaction style more or less personal.

关键词： Service robots Social robots Design tools Behavioral sciences Iterative methods Robots Videos

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Embedding VLAD in Transformer for Video Question Answering

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Jisuanji Xuebao/Chinese Journal of Computers 2023年第4期46卷 671-689页

作者： Guo, Dan Yao, Shen-Tao Wang, Hui Wang, Meng School of Computer and Information Engineering Hefei University of Technology Hefei230601 China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Hefei230094 China Key Laboratory of Knowledge Engineering with Big Data（Hefei University of Technology） Ministry of Education Hefei230601 China Intelligent Interconnected Systems Laboratory of Anhui Province（Hefei University of Technology） Hefei230601 China

Video question answering（VideoQA）is a typical cross-modal understanding task. Its challenge lies in how to learn appropriate multimodal representation and cross-modal correlation for answer inference. Most existing video question answering methods focus on the latter，e. g.，relationship learning between each video frame or clip and word. In this work， we devote to advanced feature embedding of both video and query. We develop a clustering-based VLAD technique for VideoQA. The novelty of our work is the joint exploitation of temporal aggregation and correlation in multimodality. We propose an end-to-end trainable Transformed VLAD embedding network， named TVLAD-Net. TVLAD-Net constructs a differentiable aggregation network module（i. e.， convolutional Residual-less VLAD Block）to generate compact VLAD descriptors（transforming N frames，clips or words to compact K descriptors while K © 2023 science Press. All rights reserved.

关键词： Semantics

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space 26

Safe Reinforcement Learning for Social Motor Coordination in...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Yang, Fan Huang, Yuening Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing HoustonTX United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (纸本)9798331521950

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints. © 2025 IEEE.

关键词： Reinforcement learning

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese Robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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PID Controller Design for a Mechatronic System using Lion Optimization Algorithm

PID Controller Design for a Mechatronic System using Lion Op...

引用

Applied Research in Electrical engineering (AREE), National and International Conference on

作者： Amirhossein Safdari Amirhosein Mansouri Mohammad Javad Fazli Payam Zarafshan Khalil Alipour Bahram Tarvirdizadeh Department of Mechatronics Engineering School of Intelligent Systems College of Interdisciplinary Science and Technology University of Tehran Tehran Iran Department of Renewable Energy Engineering Faculty of Mechanical and Energy Engineering Shahid Beheshti University Tehran Iran School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran School of Engineering Design and Built Environment Western Sydney University Sydney Australia

ISBN: (数字)9798350377170

ISBN: (纸本)9798350377187

Controllers act as a bridge between the operator and the system, allowing the operator to communicate with the system as if it were a human. In other words, the controller is like the thinking brain of an industrial process. A controller communicates all the commands that an expert wants to apply to the system to follow its standard flow process and ultimately achieve the desired response. When industrial processes are left alone and without a controller in the control loop, they typically do not give satisfactory responses in terms of transient or steady-state characteristics. Therefore, the selection and programming of an appropriate controller is one of the most important steps in an industrial process. One of the most widely used and well-known controllers is the PID controller, whose gains are often determined experimentally or through trial and error. However, finding the optimal gains is always a challenge. In this study, for the first time, the optimal gains of the PID controller are determined using Lion Optimization Algorithm (LOA). This research has introduced a systematic and efficient approach to achieving optimal control of mechatronic systems.

关键词： Mechatronics Systematics Process control Optimal control Programming Steady-state Transient analysis Optimization Tuning Standards

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Trans-Bifurcation Prediction of Dynamics in terms of Extreme Learning Machines with Control Inputs

arXiv

引用

arXiv 2024年

作者： Tadokoro, Satoru Yamaguchi, Akihiro Namiki, Takao Tsuda, Ichiro Education and Research Center for Mathematical and Data Science Hokkaido University Sapporo Japan Department of Information and Systems Engineering Fukuoka Institute of Technology Fukuoka Japan Department of Mathematics Faculty of Science Hokkaido University Sapporo Japan AIT Center Sapporo City University Sapporo Japan

By extending the extreme learning machine by additional control inputs, we achieved almost complete reproduction of bifurcation structures of dynamical systems. The learning ability of the proposed neural network system is striking in that the entire structure of the bifurcations of a target one-parameter family of dynamical systems can be nearly reproduced by training on transient dynamics using only a few parameter values. Moreover, we propose a mechanism to explain this remarkable learning ability and discuss the relationship between the present results and similar results obtained by Kim et al. Predicting the behaviors of dynamical systems is critical in various scientific fields. The recent advancements in machine learning have enabled the prediction of dynamical system trajectories for fixed parameter values. However, the accuracy of predicting behavioral changes due to changes in parameter values remains insufficient. In this study, we extend the extreme learning machine, a neural network-based technique, to enhance its capabilities for predicting behavioral changes in response to changes in parameter values. We subsequently evaluate the predictive performance of this extended model for a variety of dynamical systems, thereby elucidating its underlying mechanisms. © 2024, CC BY.

关键词： Adversarial machine learning

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Adaptive RBF-Neural-Network Control with Force Observer for Teleoperation Robotic System 1st

Adaptive RBF-Neural-Network Control with Force Observer for...

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1st International Conference on Cognitive Computation and systems, ICCCS 2022

作者： An, Zhaohui Min, Gaochen Jiang, Xiangzuo Yu, Xinbo He, Wei Silvestre, Carlos School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing Beijing100083 China Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing100083 China Donald Bren School of Information and Computer Sciences University of California IrvineCA92697 United States Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China LARSyS Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal

ISBN: (纸本)9789819927883

In this paper, an adaptive radial basis function neural network (RBFNN) control strategy is proposed for bilateral teleoperation robotic system with uncertainty and time delay. Meantime, the force observer method is used to estimate the interaction force between the slave robot and environment. The model of teleoperation robotic system is analyzed, and then the uncertainty of bilateral teleoperation robotic system is estimated by using RBFNN. Using Lyapunov stability theorem, the stability of teleoperation robotic system under our proposed control is proved. Finally, the effectiveness of the proposed control algorithm is verified by Matlab Simulink, and position tracking and force estimation performance of the teleoperation robotic system are guaranteed. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Time delay

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