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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Li, Zhishuai Xiong, Gang Zhang, Yu Zheng, Meng Dong, Xisong Lv, Yisheng Institute of Automation Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Municipal Institute of City Planning and Design Traffic Planning Department Beijing China

ISBN: (纸本)9781665433372

The four-step transportation model plays an important role in urban planning. The quality of the first phase, i.e. trip generation, determines the performance of the global course. The majority of trip generation forecasting models highly rely on mathematical derivation and have many predictor variables during the prediction, which leads to low accuracy of results and requires laboriously hand-crafted design of input vectors. This paper is the first to introduce the gradient boosting decision tree (GBDT) algorithm for trip generation prediction, and harmonizes such a powerful machine learning method with traditional urban planning requirements to achieve better prediction performance. Unlike the commonly used linear regression method, GBDT can automatically perform feature selection and model the non-linear relationships between input and output variables. Experimental results on real-world residential travel census in Beijing prove that the GBDT model significantly outperforms the baseline and can forecast the trip generation more accurately. © 2021 IEEE.

关键词： Decision trees

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Model Free Adaptive control Algorithm based on ReOSELM for Autonomous Driving Vehicles

Model Free Adaptive Control Algorithm based on ReOSELM for A...

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第40届中国控制会议

作者： Xiaofei Zhang Hongbin Ma Zhichao Wang Mingyu Fan Bolin Zhao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology The College of Computer Science and Artificial Intelligence Wenzhou University

Different road conditions and dynamic environment bring significant challenges to the control system of autonomous driving vehicle（ADV）. As is known, historical data collected from ADV contains valuable information about control systems,therefore, it is a promising thing to study adaptive control algorithms that have certain learning ability. In order to improve the control performance of ADV and the efficiency in data usage, in this paper, a model free adaptive control algorithm based on regularized online sequential extreme learning machine（ReOSELM） is introduced, it is difficult to analyze the algorithm based on neural network, and the system stability by improved update algorithm of ReOSELM is proved. Simulation results indicate that the proposed algorithm is effective in improving control precision when ADV is turning, and experimental results on an autonomous driving vehicle show that this algorithm is effective in real environment.

关键词： data-driven control autonomous driving vehicle model free adaptive control regularized online sequential extreme learning machine

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Guidance control for Parallel Parking Tasks

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 301-306页

作者： Jiyuan Tan Chunling Xu Li Li Fei-Yue Wang Dongpu Cao Lingxi Li Key Laboratory of Urban Intelligent Traffic Control Technology North China University of TechnologyBeijing 100144China Beijing Transport Institute Beijing 100073China Department of Automation BNRistTsinghua UniversityBeijing 100084China Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100080China Driver Cognition and Automated Driving Laboratory University of WaterlooWaterloo N2L 3G1Canada Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndiana 46202-5132 USA

Parking into small berths remains difficult for unskilled drivers. Researchers had proposed different automatic parking systems to solve this problem. The first kind of strategies(called parking trajectory planning) designs a detailed reference trajectory that links the start and ending points of a special parking task and let the vehicle track this reference trajectory so as to park into the berth. The second kind of strategies(called guidance control) just characterizes several regimes of driving actions as well as the important switching points in certain rule style and let the vehicle follows the pre-selected series of actions so as to park into the berth. Parking guidance control is simpler than parking trajectory planning. However, no studies thoroughly validated parking guidance control before. In this paper, a new automatic parking method is presented, which could characterize the desired control actions directly. Then the feasibility is examined carefully. Tests show that a simple parking guidance control strategy can work in most parallel parking tasks, if the available parking berth is not too small. This finding helps to build more concise automatic parking systems that can efficiently guide human drivers.

关键词： Automatic parking guidance control trajectory planning

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The design of a new fiber optic sensor for measuring linear velocity with pico meter/second sensitivity based on Weak-value amplification

arXiv

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arXiv 2021年

作者： Huang, Jing-Hui Duan, Xue-Ying Wang, Guang-Jun Hu, Xiang-Yun School of Institute of Geophysics and Geomatics China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

We put forward a new fiber optic sensor for measuring linear velocity with picometer/second sensitivity with Weak-value amplification based on generalized Sagnac effect [Phys. Rev. Lett.93, 143901(2004)].The generalized Sagnac effect was first introduced by Yao et al, which included the Sagnac effect of rotation as a special case and suggested a new fiber optic sensor for measuring linear motion with nanoscale sensitivity. By using a different scheme to perform the Sagnac interferometer with the probe in momentum space, we have demonstrated the new weak measure protocol to detect the linear velocity by amplifying the phase shift of the generalized Sagnac effect. Given the maximum incident intensity of the initial spectrum, the detection limit of the intensity of the spectrometer, we can theoretically give the appropriate pre-selection, post-selection and other optical structures before the experiment. Our numerical results show our scheme with Weak-value amplification is effective and feasible to detect linear velocity with picometer/second sensitivity which is three orders of magnitude smaller than the result ν=4.8 × 10-9 m/s obtained by generalized Sagnac effect with same fiber length. © 2021, CC BY.

关键词： Fiber optic sensors

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Development of GPU Enhanced AI Education Platforms for K-12 Schools

Development of GPU Enhanced AI Education Platforms for K-12 ...

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2021 China automation Congress, CAC 2021

作者： Gong, Xiaoyan Wen, Yifan Liu, Xiwei Zhao, Hongxia Jing, Sifeng Li, Qiang Gao, Kai Luo, Jilong The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao 266000 China The 21st Century International School Beijing100142 China Beijing NO. 2 Middle School Beijing100087 China Beijing University of Chemical Technology Beijing100029 China

ISBN: (纸本)9781665426473

Recently, with continuous implementation of education reform, AI (Artificial Intelligence) has been included in K-12 (Kindergarten to 12th grade) curricula and AI education is in full swing in China. However, standard, cost-efficient AI education platforms for K-12 schools are still not available. So in this paper, based on Jetson Nano, we developed a GPU-enhanced AI teaching platform including AI learning computers for students to develop Al-related algorithms and applications, AI computer clusters for whole classes, and modular auto-driving cars to run and test algorithms and applications. © 2021 IEEE

关键词： Graphics processing unit

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Stability Analysis and Bifurcation control For a Fractional Order SIR Epidemic Model with Delay

Stability Analysis and Bifurcation Control For a Fractional ...

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第三十九届中国控制会议

作者： Feng Liu Shuxian Huang Shiqi Zheng Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

In this paper, a delayed fractional SIR epidemic model with incommensurate orders is considered. Firstly, the stability is investigated and the conditions of the existence for Hopf bifurcation are attained by analyzing its characteristic equation. When the delay exceeds the critical value, a Hopf bifurcation occurs, the system loses its stability. An fractional PD control method is proposed to control the bifurcation behaviors of the delayed fractional SIR epidemic model. Finally, some numerical simulations are given to illustrate the validity of theoretical analysis.

关键词： Fractional order stability bifurcation PD control SIR epidemic model

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A Distance Measurement Method Based on Dual-parallel-line Projection for A Non-parameter Shooting System

A Distance Measurement Method Based on Dual-parallel-line Pr...

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第三十九届中国控制会议

作者： Chen Du Jinhua She Xu Jian Mengxi Qin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Engineering Tokyo University of Technology

Most images or videos are taken using mobile phones or other daily necessities. Unlike a professional device, those ready-to-use everyday items do not have a binocular or multi-ocular visual system. Thus, it is almost impossible to obtain the whole set of the internal parameters(the characteristics of a device, for example, a focal length) and the external parameters(the coordinates and rotational angles of a world coordinate system). For this reason, how to extract a distance is a difficult task and only few methods have been proposed to solve this problem. This paper presents a dual-parallel-line projection model to simply calculate the distance of a straight line for a target in a image. The model does not require any internal or external parameters and only needs very limited geometric information of an image. An image is processed using only a monocular vision system and an image perspective transformation. First, a monocular vision model is established to extract mathematical relationships between a photographer, target points, and target straight lines in a image. Then, a perspective transformation is carried out to change the angle of view on the plane to an angle of depression. An object with known length in the figure is calibrated to calculate the length of a target on the plane. Finally, auxiliary lines related to an object with known geometric information are added to the orignal image, and the results of the perspective transformation for those lines are claculated. The geometrical distance of a straight line between the photographer and the target is calculated using the mathematical relationship of the monocular vision model. Examples illustrate the validity of the method.

关键词： Monocular Vision System Perspective Transformation Model Calibration 3D Measurement

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Impulsive Synchronization of Fractional-order Delayed Gene Regulatory Network Based on Comparative System Method

Impulsive Synchronization of Fractional-order Delayed Gene R...

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第三十九届中国控制会议

作者： Feng Liu Shaoqiang Ye Shiqi Zheng Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

In this paper, we study the fractional-order delayed gene regulatory network based on the comparative system ***, we introduced the concept of fractional differential. We use Lyapunov direct method to prove the impulsive synchronization. For the oscillation behavior of a fractional-order system with time delay, we apply the pulse to control its synchronization. Finally, we verify the correctness of our theory through experiment.

关键词： Comparison system impulsive synchronization time delay fractional order gene regulatory network

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Fusionplanner: A Multi-Task Motion Planner for Mining Trucks Using Multisensor Fusion Method

SSRN

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SSRN 2023年

作者： Teng, Siyu Chen, Long Li, Luxi Li, Yuchen Hu, Xuein Li, Lingxi Ai, Yunfeng Department of Computer Science Hong Kong Baptist University Hong Kong The School of Artificial Intelligence Hubei University Wuhan China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Waytous Inc. Haidian Distinct Beijing China Indianapolis United States School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open-pit mining attracts limited attention due to its complex operational conditions and adverse environmental factors. A comprehensive paradigm for unmanned transportation in open-pit mines is proposed in this research, including a simulation platform, a testing benchmark, and a trustworthy and robust motion planner. Firstly, we introduce the Parallel Mining Simulator (PMS), a high-fidelity simulator specifically designed for open-pit mining scenarios. PMS enables to management and control of open-pit mine transportation from both the single-truck control and multi-truck scheduling perspectives. Then, we develop a novel benchmark called MiningNav, which offers three validation approaches suitable for transportation roads. The purpose of MiningNav is to evaluate the trustworthiness and robustness of algorithms in open-pit mines. Finally, we propose the first multi-task motion planning algorithm, called FusionPlanner, for the mining truck by the multisensor fusion method to adapt both lateral and longitudinal control tasks for unmanned transportation. We validate the performance of our planner using MiningNav in PMS, and empirical results demonstrate a significant reduction in the number of collisions and takeovers of FusionPlanner, thereby improving overall trustworthiness and robustness. © 2023, The Authors. All rights reserved.

关键词： Motion planning

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Forward Modeling of Shallow Transient Electromagnetic Method under Ramp Turn-off Current

Forward Modeling of Shallow Transient Electromagnetic Method...

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第三十九届中国控制会议

作者： Guangjun Wang Menglan Song School of Automation China University of Geosciences China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex System

In order to reduce the shallow detection blind zone and improve the shallow detection accuracy, this paper presents a shallow transient electromagnetic direct forward modeling method based on ramp turn-off current. The main idea is to obtain the spectrum of the ramp turn-off current signal by Fourier transform at first, then using Maxwell’s equation to solve the propagation process of the electromagnetic signal in the medium, thus obtaining the early signal of transient electromagnetic *** theory, this method is more suitable for the detection of shallow subsurface media than the ideal step signal. Simulation experiments on the ramp step signals with different turn-off times show that the complete ideal coincidence with the traditional ideal step signal when the turn-off time approaches zero, indicating the correctness of the algorithm. At the same time, compared with the current element superposition forward method, the forward curve obtained by this method is closer to the actual situation,and the calculation speed is much faster than the current element superposition method. The research results in this paper are of great value to reduce the detection blind zone, improve the detection accuracy and real-time performance of the transient electromagnetic detecting.

关键词： Ramp turn-off current shallow transient electromagnetic method forward modeling

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