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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Design of a Capsule Robot System for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Observer-based fuzzy control for nonlinear fractional-order systems via fuzzy T-S models: The 1 < α < 2 case

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IFAC Proceedings Volumes 2014年第3期47卷 6086-6091页

作者： Zhe Gao Xiaozhong Liao College of Light Industry Liaoning University Shenyang 110036 P. R. China School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 P. R. China

This paper presents observer-based fuzzy control for nonlinear fractional-order systems with the fractional order α satisfying 1 < α < 2 via fuzzy T-S models. Using the properties of the Kronecker product and LMI approach, the feedback and observer gain matrices are designed. By this method, the state of nonlinear system described as the fuzzy T-S model is convergent to the equilibrium and the observer error is convergent to zero. Finally, the simulation result of a numerical example is given to illustrate the effectiveness of this method.

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ACP-based social computing and parallel intelligence： Societies 5.0 and beyond

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CAAI Transactions on Intelligence Technology 2016年第4期1卷 377-393页

作者： XiaoWang Lingxi Li Yong Yuan Peijun Ye Fei-Yue Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Qingduo Academy of Intelligent Industries Qingduo 266100 China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University-Purdue University Indianapolis Indianapolis IN 46202 USA

Social computing, as the technical foundation of future computational smart societies, has the potential to improve the effectiveness of opensource big data usage, systematically integrate a variety of elements including time, human, resources, scenarios, and organizations in the current cyber-physical-social world, and establish a novel social structure with fair information, equal rights, and a flat configuration. Meanwhile, considering the big modeling gap between the model world and the physical world, the concept of parallel intelligence is introduced. With the help of software-defined everything, parallel intelligence bridges the big modeling gap by means of constructing artificial systems where computational experiments can be implemented to verify social policies, economic strategies, and even military operations. Artificial systems play the role of ＂social laboratories＂ in which decisions are computed before they are executed in our physical society. Afterwards, decisions with the expected outputs are executed in parallel in both the artificial and physical systems to interactively sense, compute, evaluate and adjust system behaviors in real-time, leading system behaviors in the physical system converging to those proven to be optimal in the artificial ones. Thus, the smart guidance and management for our society can be achieved.

关键词： Social computing Societies 5.0 Parallel intelligence Knowledge automation Cyber-physical-social system Artificial societies Computational ex-periments Parallel execution

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K-9 Artificial Intelligence Education in Qingdao: Issues, Challenges and Suggestions

K-9 Artificial Intelligence Education in Qingdao: Issues, Ch...

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IEEE International Conference on Networking, Sensing and control

作者： Xiaoyan Gong Ying Tang Xiwei Liu Sifeng Jing Wei Cui Joleen Liang Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Rowan University Glassboro NJ USA Squirrel AI Learning Shanghai China

ISBN: (数字)9781728168555

ISBN: (纸本)9781728168562

Nowadays, AI education from Kindergarten to 9 th grade(K-9) is in full swing in China, but many challenges exist, such as fragmented AI curricula, ineffective teaching tools, and uneven educational resources in urban and rural areas, etc. So this paper presents an in-depth study of the current status of K-9 AI education in Qingdao area through questionnaires, expert discussions, and field visits to sort out existing problems and then put forward corresponding advice and suggestions. Collected data is then analyzed from the perspectives of government, schools, teachers, students and parents, respectively. Results show that AI-related educational activities have been carried out in Qingdao area to improve students' AI literacy. But efforts are still needed to make such education more systematic, standardized, and personalized. Finally the paper made a list of recommendations corresponding to these needed efforts.

关键词： Ethics Systematics Education Government Tools Sensors Artificial intelligence

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A Parallel Education Based intelligent Tutoring systems Framework

A Parallel Education Based Intelligent Tutoring Systems Fram...

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IEEE International Conference on Networking, Sensing and control

作者： Sifeng Jing Ying Tang Xiwei Liu Xiaoyan Gong Wei Cui Joleen Liang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Rowan University Glassboro NJ USA Squirrel AI Learning Shanghai China

ISBN: (数字)9781728168555

ISBN: (纸本)9781728168562

although online education has improved efficiency of learners' access to high-quality educational resources, real-time interaction between instructors and learners have not yet been achieved in online personalized learning. intelligent Tutoring systems (ITS) provides a feasible way to realize realtime personalized learning guidance and resource recommendations by applying AI to capture and analyze online learners' characteristics and behaviors. In this paper, reviews and trends of ITS are discussed and three challenges of ITS research & development are pointed out: learner model, guidance mechanism and human-computer interaction mechanism. In order to address these issues, parallel intelligence theory is introduced and a parallel intelligence education based ITS framework is proposed.

关键词： Human computer interaction Conferences Education Market research Sensors Artificial intelligence

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Motion control and fall detection of intelligent cane robot

Springer Tracts in Advanced Robotics

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Springer Tracts in advanced Robotics 2015年 106卷 317-337页

作者： Fukuda, Toshio Huang, Jian Di, Pei Sekiyama, Kosuge Key Laboratory of Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology No. 1037 Luoyu Road Wuhan Hubei430074 China Department of Micro-Nano Systems Engineering Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan

An intelligent cane robot was designed for aiding the elderly and handicapped people walking. The robot consists of a stick, a group of sensors and an omni-directional basis driven by three Swedish wheels. Multiple sensors were used to recognize the user’s "walking intention", which is quantitatively described by a new concept called intentional direction (ITD). Based on the guidance of filtered ITD, a novel intentionbased admittance motion control (IBAC) scheme was proposed for the cane robot. The experiment results demonstrated that the user feels more natural and comfortable when walking with the assistance of cane robot controlled by the IBAC strategy. To detect the fall of user, a detection method based on Dubois possibility theory was proposed using the combined sensor information from force sensors and a laser ranger finder (LRF) fixed on the cane robot. The human fall model was represented in a two-dimensional space, where the relative position between the Zero- Moment-Point (ZMP) and the center of support triangle was utilized as a significant feature. The effectiveness of proposed fall detection method was also confirmed by experiments. © Springer International Publishing Switzerland 2015.

关键词： Motion control

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A Novel Agricultural Data Sharing Mode Based on Rice Disease Identification

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Plant Diseases and Pests 2024年第2期15卷 9-16页

作者： Mengmeng ZHANG Xiujuan WANG Mengzhen KANG Jing HUA Haoyu WANG Feiyue WANG State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China State Key Laboratory for Management and Control of Complex System Institute of AutomationChinese Academy of SciencesBeijing 100190China

In this paper,a variety of classical convolutional neural networks are trained on two different datasets using transfer learning *** demonstrated that the training dataset has a significant impact on the training results,in addition to the optimization achieved through the model ***,the lack of open-source agricultural data,combined with the absence of a comprehensive open-source data sharing platform,remains a substantial *** issue is closely related to the difficulty and high cost of obtaining high-quality agricultural data,the low level of education of most employees,underdeveloped distributed training systems and unsecured data *** address these challenges,this paper proposes a novel idea of constructing an agricultural data sharing platform based on a federated learning(FL)framework,aiming to overcome the deficiency of high-quality data in agricultural field training.

关键词： Rice disease and pest identification Convolutional neural networks Distributed training Federated learning(FL) Open-source data sharing platform

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Sensorless control of a Tubular Oscillatory LPMSM based on MARS and Deadbeat Current Predictive control

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IOP Conference Series: Materials Science and Engineering 2020年第6期768卷

作者： Kang Lu Tao Wu Haonan Chen He Wang Jia Gao School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China

In the vector control system of the tubular oscillatory linear permanent magnet (PM) synchronous motor (LPMSM), it is difficult for traditional mechanical sensors to accurately obtain the feedback information under harsh conditions. In this work, a speed sensorless vector control system is designed and applied to the tubular oscillatory LPMSM which adopts the model reference adaptive system (MRAS), and the deadbeat current predictive control (DCPC) is also adopted to replace the traditional PI current loop to establish the coordination controller, which overcomes the difficulties of global optimization and PI control parameter setting. And the method is proved by the simulation results and it gets better dynamic performance.

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Decentralized Game-based Auction Algorithm for Scheduling Robotic Chargers to Service EVs with Uncertain Demands

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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