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Sora for foundation robots with parallel intelligence:three world models,three robotic systems

Frontiers of Information technology & Electronic Engineering 2024年第7期25卷 917-923页

作者： Lili FAN Chao GUO Yonglin TIAN Hui ZHANG Jun ZHANG Fei-Yue WANG School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing 100044China School of Electrical Engineering Wuhan UniversityWuhan 430072China

This paper outlines the initial steps and basic framework for developing foundation/infrastructure robots/robotics based on foundation models and parallel intelligence,as well as the potential applications of new art... 详细信息

关键词： artificial foundation intelligence

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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Overview of Research on Transformation of Multi-AUV Formations

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Complex System Modeling and Simulation 2021年第1期1卷 1-14页

作者： Bin Xin Junxi Zhang Jie Chen Qing Wang Yun Qu School of Automation and the State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of TechnologyBeijing 100081China

Because of their wide detection range and rich functions,autonomous underwater vehicles(AUVs)are widely used for observing the marine environment,for exploring natural resources,for security and defense purposes,and in many other fields of *** with a single AUV,a multi-AUV formation can better perform various tasks and adapt to complex underwater *** changes in the mission or environment,a change in the UAV formation may also be *** the last decade,much progress has been made in the transformation of multi-AUV *** this paper,we aim to analyze the core concepts of multi-AUV formation transformation;summarize the effects of the AUV model,underwater environment,and communication between AUVs within formations on formation transformation;and elaborate on basic theories and implementation approaches for multi-AUV formation ***,this overview includes a bibliometric analysis of the related literature from multiple ***,some challenging issues and future research directions for multi-AUV formation transformation are highlighted.

关键词： autonomous underwater vehicle multi-AUV formation formation transformation formation control

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Influence of contact layer on the sulphur corrosion of copper conductors in power transformers

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High Voltage 2022年第1期7卷 176-184页

作者： Lijun Yang Dong Ding Yuan Yuan Sihang Gao Yuncai Lu State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing UniversityChongqingChina College of Material Science and Engineering Chongqing UniversityChongqingChina Key Laboratory of Industrial Internet of Things and Networked Control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqingChina State Grid Jiangsu Electric Power Co. Ltd.Electric Power Research InstituteNanjingChina

Owing to the corrosive sulphides in the mineral insulating oil such as dibenzyl disul-phide(DBDS),copper windings in oil‐immersed transformers may suffer sulphur *** study investigates the influence of different contact conditions on the corrosion of copper conductors in ***‐immersed accelerated corrosion experiment was conducted on copper conductors with various contact materials and different layers of insulating *** surface micromorphology,deposition compo-nent and the potentiodynamic polarization characteristics of copper conductors were *** results show that copper with different contact materials suffer sulphur corrosion;conversely,bare copper rarely *** was also verified that the existence of a particular gap between copper and contact layer is a significant factor in sulphur corrosion by the formation of a concentration cell on the copper *** insu-lating paper wrapped around copper conductors does not increase the corrosion ten-dency of copper;however,it contributes to the formation of a region concentrated with DBDS,Cu^(2+),H^(+)by adsorption and impediment,which plays a key role in facilitating the sulphur corrosion of copper ***,sulphur corrosion can also occur on other metal parts in transformers when there is a particular gap on surfaces other than copper.

关键词： corrosion copper sulphur

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Efficient Object Manipulation to an Arbitrary Goal Pose: Learning-based Anytime Prioritized Planning

arXiv

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arXiv 2021年

作者： Xu, Kechun Yu, Hongxiang Huang, Renlang Guo, Dashun Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the manipulator with gripper, one-step picking, moving and releasing might be failed, where a reorientation object pose is required as a transition. In this paper, we propose a learningdriven anytime prioritized search-based solver to find a feasible solution with low path cost in a short time. In our work, the problem is formulated as a hierarchical learning problem, with the high level finding a reorientation object pose, and the low level planning paths between adjacent grasps. We learn an offline-training path cost estimator to predict approximate path planning costs, which serve as pseudo rewards to allow for pre-training the high-level planner without interacting with the simulator. To deal with the problem of distribution mismatch of the cost net and the actual execution cost space, a refined training stage is conducted with simulation interaction. A series of experiments carried out in simulation and real world indicate that our system can achieve better performances in the object manipulation task with less time and less cost. Copyright © 2021, The Authors. All rights reserved.

关键词： Cost estimating

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A new flexible multi-AGVs scheduling model with pre-waiting time in an intelligent manufacturing system

A new flexible multi-AGVs scheduling model with pre-waiting ...

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IEEE International Conference on Networking, Sensing and control

作者： Haoyi Niu Zichao Xing Xingkai Wang Weimin Wu Tao Zhang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

This paper studies a flexible flow-shop scheduling problem with limited resources (FFSP-LR) which is based on an actual air-conditioning production line in an intelligent manufacturing system. It extends the classical flexible flow-shop scheduling problem by considering practical constraints of the number of the AGVs (automated guided vehicles) on the transportation resources. The problem aims to determine the optimal scheduling results that minimizes the idle waiting time and pick-up waiting time of the workstations. To solve this problem, a pre-waiting scheduling model (PWSM) is proposed by taking into account the advance waiting time of AGVs. The experimental results show that the proposed PWSM is able to reduce idle waiting time and pick-up waiting time up to 425.01 and 414.25 comparing to traditional FCFS (First Come First Serve) strategy respectively. Correspondingly, these two types of time could be saved up to 87.01% and 98.57%. Finally, the overall efficiency of the intelligent manufacturing system is improved since the PWSM is able to effectively reduce the idle waiting time and pick-up waiting time of the workstations under the condition of limited transportation resources.

关键词： Job shop scheduling Transportation Optimal scheduling Production Workstations Numerical models Sensors

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A Novel Searching Method of Fringe Blocks for AGV Deadlock Avoidance

A Novel Searching Method of Fringe Blocks for AGV Deadlock A...

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IEEE International Conference on Networking, Sensing and control

作者： Xinyu Chen Tingqi Zhang Weimin Wu Ruifen Hu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665440493

With the increasing development of automated logistics systems, automated guided vehicles (AGVs) have been gradually deployed in various logistics systems. AGVs are mainly used to transport materials and products, which promote the efficiency greatly and provide profound flexibility and safety. The strategy to prevent AGVs from forming deadlocks is one of the fundamental and vital issues in applications. In this paper, a common type of deadlock that usually occurs in warehouses and a typical attribute of map called fringe blocks are studied thoroughly. To solve the deadlock, it’s crucial to identify fringe blocks. We first use traditional depth first search algorithm (DFS) to find out all the fringe blocks in the map. Then, confronted with the huge time complexity, we combine the DFS procedure with a high-efficiency trimming method. Finally, we run a simulation and make a comparison of both methods. The simulation results have shown that the proposed strategy will reduce computational time significantly without making false judgements.

关键词： Remotely guided vehicles Simulation Computational modeling Conferences System recovery Search problems Sensors

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Thermal decomposition kinetics and mechanism investigation of cumene hydroperoxide under inert gas: A novel experimental method

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Process Safety and Environmental Protection 2023年 172卷 408-416页

作者： Yu, Chang-Fei Liu, Shang-Hao Yuan, Liang Wei, Dan-Dan Key Laboratory of Industrial Dust Control and Occupational Health Ministry of Education Anhui University of Science and Technology 168 Taifeng Street HuainanAnhui232001 China Department of Chemical and Materials Engineering National Yunlin University Science and Technology 123 University Rd. Sec. 3 DouliouYunlin64002 Taiwan State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and Technology 168 Taifeng Street HuainanAnhui232001 China Coal Mining National Engineering Technology Research Institute 168 Taifeng Street HuainanAnhui232001 China School of Safety Science and Engineering Anhui University of Science and Technology 168 Taifeng Street HuainanAnhui232001 China

Organic peroxides, due to temperature manipulation failure and/or manner disturbances, had been probable to lead to the prevalence of runaway phenomena, even fire, and explosion. Cumene hydroperoxide (CHP), is a traditional liquid organic peroxide for industrial purposes and is applied as a free radical initiator for polymerization reactions in the petrochemical industry. Its utilization in the industrial processes had certain potential safety hazards. In this work, linearly ramped thermal decomposition in CHP was performed using differential scanning calorimetry under a nitrogen atmosphere. Kinetic analysis is made using data from the ramped measurements with two integral strategies (Flynn-Wall-Ozawa and Kissinger-Akahira-Sunose). The gaseous products of thermal decomposition in CHP are investigated via thermal gravimetric evaluation coupled with Fourier transform infrared spectroscopy and gas chromatography/mass spectrometry. Combined with the experimental results, the possible decomposition path of CHP is discussed. This makes up the gap of unclear decomposition mechanism of CHP in inert atmosphere, and has important reference significance for its industrial production and application. © 2023

关键词： Thermolysis

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Learn to differ: Sim2Real small defection segmentation network

arXiv

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arXiv 2021年

作者： Chen, Zexi Huang, Zheyuan Wang, Yunkai Xu, Xuecheng Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

Recent studies on deep-learning-based small defection segmentation approaches are trained in specific settings and tend to be limited by fixed context. Throughout the training, the network inevitably learns the representation of the background of the training data before figuring out the defection. They underperform in the inference stage once the context changed and can only be solved by training in every new settings. This eventually leads to the limitation in practical robotic applications where contexts keep varying. To cope with this, instead of training a network context by context and hoping it to generalize, why not stop misleading it with any limited context and start training it with pure simulation? In this paper, we propose the network SSDS that learns a way of distinguishing small defections between two images regardless of the context, so that the network can be trained once for all. A small defection detection layer utilizing the pose sensitivity of phase correlation between images is introduced and is followed by an outlier masking layer. The network is trained on randomly generated simulated data with simple shapes and is generalized across the real world. Finally, SSDS is validated on real-world collected data and demonstrates the ability that even when trained in cheap simulation, SSDS can still find small defections in the real world showing the effectiveness and its potential for practical applications. © 2021, CC BY.

关键词： Deep learning

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HiTMap: A Hierarchical Topological Map Representation for Navigation in Unknown Environments

arXiv

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arXiv 2021年

作者： Xu, Xuecheng Wang, Cheng Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

— The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to navigate. However, in large-scale real-world applications, it’s hard to prohibit drifts and compose a globally consistent map quickly. In this paper, a novel representation named, HiTMap, is proposed to enhance the existing map representations. The central idea is to adopt a submap-based hierarchical topology rather than a global metric map so that only a local metric map is maintained for obstacle avoidance which ensures the lightweight of the representation. To guide the robots navigate into unknown spaces, frontiers are detected and attached to the map as an attribute. We also develop a path planning module to evaluate the feasibility and efficiency of our map representation. The system is validated in a simulation environment and a demonstration in the real world is conducted. In addition, the HiTMap is made available open-source. https://***/MaverickPeter/HiTMap. © 2021, CC BY.

关键词： Navigation

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