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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Haplotype-resolved Chinese male genome assembly based on high-fidelity sequencing

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Fundamental Research 2022年第6期2卷 946-953页

作者： Xiaofei Yang Xixi Zhao Shoufang Qu Peng Jia Bo Wang Shenghan Gao Tun Xu Wenxin Zhang Jie Huang Kai Ye Genome Institute the First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061ShaanxiChina School of Computer Science and Technology Faculty of Electronic and Information EngineeringXi'an Jiaotong UniversityXi'an 710049ShaanxiChina MOE Key Lab for Intelligent Networks&Networks Security Faculty of Electronic and Information EngineeringXi'an Jiaotong UniversityXi'an 710049ShaanxiChina National Institutes for food and drug Control(NIFDC) No.2Tiantan XiliDongcheng DistrictBeijing 102629China School of Automation Science and Engineering Faculty of Electronic and Information EngineeringXi'an Jiaotong UniversityXi'an 710049ShaanxiChina School of Life Science and Technology Xi'an Jiaotong UniversityXi'an 710049ShaanxiChina Faculty of Science Leiden UniversityLeidenThe Netherlands

The advantages of both the length and accuracy of high-fidelity(HiFi)reads enable chromosome-scale haplotype-resolved genome *** this study,we sequenced a cell line named HJ,established from a Chinese Han male individual by using HiFi and *** assembled two high-quality haplotypes of the HJ genome(haplotype 1(H1):3.1 Gb,haplotype 2(H2):2.9 Gb).The continuity(H1:contig N50=28.2 Mb,H2:contig N50=25.9 Mb)and completeness(BUSCO:H1=94.9%,H2=93.5%)are substantially better than those of other Chinese genomes,for example,HX1,NH1.0,and *** comparing HJ genome with GRCh38,we reported the mutation landscape of HJ and found that 176 and 213 N-gaps were filled in H1 and H2,*** addition,we detected 12.9 Mb and 13.4 Mb novel sequences containing 246 and 135 protein-coding genes in H1 and H2,*** results demonstrate the advantages of HiFi reads in haplotype-resolved genome assembly and provide two high-quality haplotypes of a potential Chinese genome as a reference for the Chinese Han population.

关键词： Genome assembly HiFi reads Human genome Haplotype-resolved Chinese Han Mutation landscape

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Research on the release management technology of the mobile application for electricity dispatching 3

Research on the release management technology of the mobile ...

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2021 3rd International Conference on Electronic Engineering and Informatics, EEI 2021

作者： Dai, Jinxia Li, Donghai Gao, Baoshan Zhou, Ling Chen, Wenjing Electronic Information Engineering Nanjing University of Information Science and Technology Jiangsu Nanjing211106 China Nanjing Institute of Technology Electrical Engineering and Its Automation Jiangsu Nanjing211106 China School of Control and Computer Engineering North China Electric Power University Beijing Bejing102206 China Geographic Information System Hohai University Jiangsu Nanjing211106 China Computer Science and Technology Hohai University Jiangsu Nanjing211106 China

With the continuous development of the power system and the rapid growth of the scale of the power grid, the information that needs to be monitored, inquired, and maintained in the power grid dispatching system is increasing. The traditional way of understanding the realtime operation status of the power grid through dispatching workstations is increasingly unable to meet the requirements of modern power grids for monitoring, operation and maintenance in real-time, timeliness, and anywhere. In the face of such a huge business demand market, how to develop mobile applications that meet customer needs with minimal investment in resources and efficient development efficiency has become our research direction. This paper discusses a release management technology of the mobile application for electricity dispatching that meets the above requirements. This technology adopts the design mode of "shared application + personalized page", without too much intervention by developers, Users can edit and compress their own personalized pages, then upload to the version server and update the main page on the mobile devices themselves;this technology improves the efficiency of opening graphics file and the response time of operation through caching the graphic files and only refreshing the operation area mechanisms;through the publish/subscribe message bus mechanism, the hot update effect of the main page is realized;the service is restored through one-click, which provides users with more operating space. © Published under licence by IOP Publishing Ltd.

关键词： Efficiency

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Toward parallel intelligence: an interdisciplinary solution for complex systems

arXiv

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arXiv 2023年

作者： Zhao, Yong Zhu, Zhengqiu Chen, Bin Qiu, Sihang Huang, Jincai Lu, Xin Yang, Weiyi Ai, Chuan Huang, Kuihua He, Cheng Jin, Yucheng Liu, Zhong Wang, Fei-Yue College of Systems Engineering National University of Defense Technology Changsha410073 China Hunan Institute of Advanced Technology Changsha410073 China Shanghai Institute of Infectious Disease and Biosecurity Shanghai200032 China Neuherberg Germany Department of Computer Science Hong Kong Baptist University 999077 Hong Kong State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

The growing complexity of real-world systems necessitates interdisciplinary solutions to confront myriad challenges in modeling, analysis, management, and control. To meet these demands, the parallel systems method rooted in Artificial systems, Computational experiments, and Parallel execution (ACP) approach has been developed. The method cultivates a cycle, termed parallel intelligence, which iteratively creates data, acquires knowledge, and refines the actual system. Over the past two decades, the parallel systems method has continuously woven advanced knowledge and technologies from various disciplines, offering versatile interdisciplinary solutions for complex systems across diverse fields. This review explores the origins and fundamental concepts of the parallel systems method, showcasing its accomplishments as a diverse array of parallel technologies and applications, while also prognosticating potential challenges. We posit that this method will considerably augment sustainable development while enhancing interdisciplinary communication and cooperation. © 2023, CC BY-NC-ND.

关键词： Iterative methods

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$H_{\infty }$ PID control for Discrete-Time Fuzzy Systems With Infinite-Distributed Delays Under Round-Robin Communication Protocol

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IEEE Transactions on Fuzzy Systems 2021年第6期30卷 1875-1888页

作者： Yezheng Wang Zidong Wang Lei Zou Hongli Dong College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China Department of Computer Science Brunel University London Uxbridge U.K. Institute of Complex Systems and Advanced Control and the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University Daqing China

This article is concerned with the $H_{\infty }$ proportional–integral–derivative (PID) control problem for class of discrete-time Takagi–Sugeno fuzzy systems subject to infinite-distributed time delays and round-robin (RR) protocol scheduling effects. The information exchange between the sensors and the controller is conducted through a shared communication network. For the purpose of alleviating possible data collision, the well-known RR communication protocol is deployed to schedule the data transmissions. To stabilize the target system with guaranteed $H_{\infty }$ performance index, a novel yet easy-to-implement fuzzy PID controller is developed whose integral term is calculated based on the past measurements defined in a limited time window with hope to improve computational efficiency and reduce accumulation error. Based on the Lyapunov stability theory and the convex optimization technique, sufficient conditions are derived to ensure the exponential stability as well as the $H_{\infty }$ disturbance attenuation/rejection capacity of the underlying system. Furthermore, by utilizing the cone complementarity linearization algorithm, the nonconvex controller design problem is transformed into an iterative optimization one that facilitates the controller implementation. Finally, simulation examples are given to show the effectiveness and correctness of the developed control method.

关键词： PD control Protocols PI control control systems Symmetric matrices Communication networks Optimization

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A Many-Objective Evolutionary Algorithm Assisted by Ideal Hyperplane

SSRN

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SSRN 2022年

作者： Zhang, Zhixia Wen, Jie Wang, Hui Cai, Xingjuan Cui, Zhihua Zhang, Wensheng School of Computer Science and Technology Taiyuan University of Science and Technology China School of Information Engineering Nanchang Institute of Technology Nanchang330099 China State Key Laboratory of Intelligent Control and Management of Complex System Institute of Automation Chinese Academy of Sciences China State Key Lab. for Novel Software Technology Nanjing University China

In many-objective optimization problems (MaOPs), it is a difficult task for evolutionary algorithms to balance convergence and diversity while rapidly converging to the Pareto front. As the number of objectives increases, the difficulty of evolutionary algorithms increases with individual selection pressure. To address above problems, we propose a many-objective evolution algorithm assisted by an ideal hyperplane (MaOEA-IH). Firstly, the ideal hyperplane as a reference surface to guide the individual to search the Pareto front, which is established from the extremum of each dimension of the objective space. Secondly, a parallel p -norm mating selection strategy is proposed to improve convergence. In addition, two factors are considered in this strategy: 1) different p -norm are used to measure different spatial scales;2) individual selection uncertainty is defined by incorporating a probabilistic perturbation mechanism. Thirdly, the improved shift-based density estimation strategy is used as the evaluation criterion for environmental selection to improve the convergence and diversity of solution sets and enhance selection pressure. To verify the effectiveness of the proposed algorithm, MAOEA-IH is compared with seven excellent algorithms in three benchmark sets (DTLZ, WFG and MaF). The results show that the proposed MAOEA-IH is highly competitive in solving MaOPs. © 2022, The Authors. All rights reserved.

关键词： Geometry

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Learning Dictionaries from Physical-Based Interpolation for Water Network Leak Localization

arXiv

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arXiv 2023年

作者： Irofti, Paul Romero-Ben, Luis Stoican, Florin Puig, Vicenç Department of Computer Science Faculty of Mathematics and Computer Science University of Bucharest 010014 Romania The Institute for Logic and Data Science Popa Tatu 18 Bucharest010805 Romania The Institut de Robòtica i Informàtica Industrial CSIC-UPC Llorens i Artigas 4-6 Barcelona08028 Spain The Universitat Politècnica de Catalunya Campus de Terrassa Gaia Building Rambla Sant Nebridi 22 Terrassa Barcelona08222 Spain The Deptartment of Automation Control and Systems Engineering Politehnica University of Bucharest 060042 Romania

This article presents a leak localization methodology based on state estimation and learning. The first is handled by an interpolation scheme, whereas dictionary learning is considered for the second stage. The novel proposed interpolation technique exploits the physics of the interconnections between hydraulic heads of neighboring nodes in water distribution networks. Additionally, residuals are directly interpolated instead of hydraulic head values. The results of applying the proposed method to a well-known case study (Modena) demonstrated the improvements of the new interpolation method with respect to a state-of-the-art approach, both in terms of interpolation error (considering state and residual estimation) and posterior localization. Copyright © 2023, The Authors. All rights reserved.

关键词： Interpolation

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The Quality Evaluation of Academic Papers in Carbon Capture, Utilization, and Storage

The Quality Evaluation of Academic Papers in Carbon Capture,...

引用

Machine Learning, control, and Robotics (MLCR), International Conference on

作者： Hangyue Zhang Jie Bai School of Computer Science and Technology Sun Yat-sen University Guangzhou P. R. China City State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing P. R. China

ISBN: (纸本)9781665454605

Carbon capture, utilization, and storage (CCUS) technology is a research hotspot worldwide owing to global climate change and warm gas control. CCUS papers from the last twenty years, derived from the Web of science database, were analyzed to investigate the impact and citation of academic papers using machine learning methods. Firstly, nine author characteristics, keywords, and three other categories were extracted from the literature. Then, the natural logarithm distribution of the annual average number of citations was obtained, and five evaluation grades were decided based on the citations. Next, the keyword evolution of papers in the CCUS field is analyzed, and a model on the keyword evolution trend index is proposed. Data integration and imbalance processing were conducted after random sampling. A citation prediction model was proposed to evaluate the quality of CCUS academic papers and was verified on the recent five years' CCUS papers by comparing it with nine other mainstream machine learning models. The results indicate that the random forest model exhibits the best performance, with an accuracy rate reaching 88.7%; an ablation experiment was also conducted using the same algorithm. The results prove the effectiveness of our proposed method, shedding light on the quality of academic papers and technology development in CCUS.

关键词： Machine learning Climate change Random forests Modeling Energy storage

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Study on spiral winding swimming motion control of a slender legless creature model

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High Technology Letters 2021年第4期27卷 415-421页

作者： Lu Zhenli Ma Zhipeng Marko Pencic Maja Cavic Borovac Branislav Roumiana Ilieva Bojan Nemec Marjan Mernik School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500P.R.China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116P.R.China Faculty of Technical Sciences University of Novi SadNovi Sad 621000Serbia Faculty of Management Technical University of SofiaSofia 1000Bulgaria Department of Automatics Biocybernetics and RoboticsJožef Stefan InstituteLjubljana 1000Slovenia Faculty of Electrical Engineering and Computer Science University of MariborMaribor 462000Slovenia

Through the observation and analysis of the motion trajectory of spiral winding motion for slender legless biological creatures in water,V-REP software is adopted to build a dynamic simulator to study on the mechanism of spiral winding swimming(SWS)*** using the output of spiral function(SF),the dynamic simulation model of slender legless creature(SLC)realizes the SWS motion in *** corresponding experiments under the control of different bending angle of SF to control the dynamic model are also carried out to analyze the water performance of SWS in still *** with the output of two different bending angles of the spiral function,the dynamic model can be used to realize SWS and up/down *** work provides technical reserve and experimental platform for the corresponding study in related fields.

关键词： V-REP spiral winding swimming(SWS) motion control slender legless creature(SLC)

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Towards Efficient Dynamic Uplink Scheduling over Multiple Unknown Channels

arXiv

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arXiv 2022年

作者： Wu, Shuang Ren, Xiaoqiang Jia, Qing-Shan Johansson, Karl Henrik Shi, Ling Huawei Noah’s Ark Lab Hong Kong The School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China The Center for Intelligent and Networked Systems Department of Automation BNRist Tsinghua University Beijing100084 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

Age-of-Information (AoI) is a critical metric for network applications. Existing works mostly address optimization with homogeneous AoI requirements, which is different from practice. In this work, we optimize uplink scheduling for an access point (AP) over multiple unknown channels with heterogeneous AoI requirements defined by AoI-dependent costs. The AP serves N users by using M channels without the channel state information. Each channel serves only one user in each decision epoch. The optimization objective is to minimize the time-averaged AoI-dependent costs plus additional communication transmission costs over an infinite horizon. This decision-making problem can be formulated as a Markov decision process, but it is computationally intractable because the size of the state space grows exponentially with respect to the number of users. To alleviate the challenge, we reformulate the problem as a variant of the restless multi-armed bandit (RMAB) problem and leverage Whittle’s index theory to design an index-based scheduling policy algorithm. We derive an analytic formula for the indices, which reduces the computational overhead and facilitates online adaptation. Our numerical examples show that our index-based scheduling policy achieves comparable performance to the optimal policy and outperforms several other heuristics. Copyright © 2022, The Authors. All rights reserved.

关键词： Optimization

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