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arXiv 2022年

作者： Yao, Canqi Chen, Shibo Salazar, Mauro Yang, Zaiyue School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology EindhovenMB 5600 Netherlands

This paper investigates the scheduling problem of a fleet of electric vehicles, providing mobility as a service to a set of time-specified customers, where the operator needs to solve the routing and charging problem jointly for each EV. Hereby we consider incentive-aware customers and propose that the operator offers monetary incentives to customers in exchange for time flexibility. In this way, the fleet operator can achieve a routing and charging schedule with lower costs, whilst the customers receive monetary compensation for their flexibility. Specifically, we first propose a bi-level optimization model whereby the fleet operator optimizes the routing and charging schedule accounting for the spatio-temporal varying charging price, jointly with a monetary incentive to reimburse the delivery time flexibility experienced by the customers. Concurrently the customers choose their own time flexibility by minimizing their own cost. Second, we cope with the computational burden coming from this nonlinear bi-level optimization model with an accurate reformulation approach consisting of the KKT optimality conditions, a Big-M-based linearization method, and the zero duality gap of convex optimization problems. This way, we convert the proposed problem into a single-level optimization problem, which can be solved by a strengthened generalized Benders decomposition method holding a faster convergence rate than the generalized Benders decomposition method. To evaluate the effectiveness of the proposed mathematical model, we carry out numerous simulation experiments by using the VRP-REP data of Belgium. The numerical results showcase that the proposed mathematical model can reduce the delivery fees for the customers together with the cost of operation incurred by the fleet operator. © 2022, CC BY-NC-SA.

关键词： Sales

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MA-FSAR: Multimodal Adaptation of CLIP for Few-Shot Action Recognition

arXiv

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arXiv 2023年

作者： Xing, Jiazheng Xu, Chao Wang, Mengmeng Dai, Guang Sun, Baigui Liu, Yong Wang, Jingdong Zhao, Jian Laboratory of Advanced Perception on Robotics and Intelligent Learning College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou310027 China Alibaba Group China College of Computer Science and Technology Zhejiang University of Technology China SGIT AI Lab State Grid Corporation of China China Baidu China China Northwestern Polytechnical University Shanxi Xi’an China

Applying large-scale vision-language pre-trained models like CLIP to few-shot action recognition (FSAR) can significantly enhance both performance and efficiency. While several studies have recognized this advantage, most of them resort to full-parameter fine-tuning to make CLIP’s visual encoder adapt to the FSAR data, which not only costs high computations but also overlooks the potential of the visual encoder to engage in temporal modeling and focus on targeted semantics directly. To tackle these issues, we introduce MA-FSAR, a framework that employs the Parameter-Efficient Fine-Tuning (PEFT) technique to enhance the CLIP visual encoder in terms of action-related temporal and semantic representations. Our solution involves a Fine-grained Multimodal Adaptation, which is different from the previous attempts of PEFT in regular action recognition. Specifically, we first insert a Global Temporal Adaptation that only receives the class token to capture global motion cues efficiently. Then these outputs integrate with visual tokens to enhance local temporal dynamics by a Local Multimodal Adaptation, which incorporates text features unique to the FSAR support set branch to highlight fine-grained semantics related to actions. In addition to these token-level designs, we propose a prototype-level text-guided construction module to further enrich the temporal and semantic characteristics of video prototypes. Extensive experiments demonstrate our superior performance in various tasks using minor trainable parameters. © 2023, CC BY-SA.

关键词： Semantics

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Code generation technology and reliability analysis based on structure flow chart 2

Code generation technology and reliability analysis based on...

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2021 2nd International Conference on Machine Learning and Computer Application, ICMLCA 2021

作者： Zhang, Tao Sun, Xuyang Shao, Zhong School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Software College Shenyang University of Technology Liaoning Shenyang China

ISBN: (纸本)9783800757398

With the rapid iterative development of software development technology, the increasing scale of software and the increasing demand for reliability, the research on automatic code generation and reliability prediction technology has increasingly become a hot issue in the field of software engineering. The purpose of this paper is to obtain data from the user modeling process and store it, and then use software metrics to analyze and judge the corresponding data, and obtain a method for optimizing the model, so as to prevent some errors made by users in the modeling phase. And incomplete information, and then iteratively improve and repair the model. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Reliability analysis

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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

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IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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A biofuel risk management model for biomass-based heat sources considering supply-demand-side uncertainties

A biofuel risk management model for biomass-based heat sourc...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering (QR2MSE 2022)

作者： D. Fu T. Zhou T. Yang T. Zhang J. Dong Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang People's Republic of China Technical Management Division Guodian Technology & Environment Group Co Ltd. Beijing People's Republic of China Digital Factory Department Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang People's Republic of China

Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the ability of continuous heat supply for heating systems, but also improving the ability of effective cost control. A biofuel risk management model is thus proposed innovatively for biomass-based heat sources considering supply-demand-side uncertainties. The developed model integrates Chance-constrained programming, Two-stage stochastic programming and the traditional linear programming into a general framework. After that, the developed model is applied in to a real heat-source case of biofuel risk management under uncertainties and the corresponding solutions on biofuel risk management are generated. The beneficial results of biofuel allocation pattern can be obtained for decision-makers to provide the fuel management support under different risk levels. Besides, a trade-off analysis between the constraint-violation risk and the system cost can also be provided to conduct in-depth analysis.

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Research on compliant configuration of hydraulic manipulator with passive following characteristic

Research on compliant configuration of hydraulic manipulator...

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作者： Jiang, Lin Ren, Lisheng Pan, Xiaoyue Zhu, Jianyang Zhao, Hui Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

To decrease the injury caused by an accidental collision between the hydraulic manipulator and human, a hydraulic rotating angle self-servo compliant robot driver joint is designed. Based on this joint, a variable stiffness passive servo-hydraulic rotary joint is improved. The passive follow-up characteristics of the improved servo-hydraulic rotary joint enable it to enter the low stiffness mode by itself when it encounters collisions beyond the force limit. Combining this characteristic, the research method of the hydraulic mechanical arm flexible configuration is proposed. Firstly, the joint motion mode is defined by the Euler angle, and a variety of configurations conforming to the motion characteristics of the manipulator are determined. Then, the virtual prototype and collision environment are built, and the dynamic characteristics of the end effector of the arm under high and low stiffness are measured. The results show that the flexible configurations with passive follow-up characteristics can significantly suppress the collision force. Finally, the visual method is employed to solve, draw, and compare the workspace of the selected compliant configuration, to obtain the optimal compliant configuration with both flexibility and motion, which provides theoretical guidance for the subsequent design of the compliant manipulator. © 2020 Institution of Engineering and Technology. All rights reserved.

关键词： Stiffness

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Method for detecting surface defects of ceramic tile based on improved Cascade RCNN

Method for detecting surface defects of ceramic tile based o...

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Frontiers Technology of Information and Computer (ICFTIC), IEEE International Conference on

作者： Yu Cao Yu Wang Haiwen Feng Ting Wang School of Software College Shenyang University of Technology Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

In view of the problems of small scale and low contrast of ceramic tile defects, various types of ceramic tile surface defects, and difficulty in realizing high-precision ceramic tile defect detection, a ceramic tile surface defect detection model based on improved Cascade RCNN is proposed to locate and identify the types of ceramic tile surface defects in different texture backgrounds. The improved ResNest network is used to improve the classification ability of the algorithm and optimize the performance of the model. The improved feature pyramid enhanced the feature extraction ability of the algorithm, and improved the accuracy of detecting small-scale defects and low-contrast defects of ceramic tiles. The whole connection structure of the last layer of cascade detectors was modified to double-head structure, which improved the ability of detectors to perform classification and regression tasks, and solved the problem of various kinds of defects on the surface of ceramic tiles. After data collection, 2810 tiles defect pictures were obtained, and then 7934 tiles defect slices were obtained by image segmentation, and the slices were made into tiles defect data sets. Experiments show that this method can achieve 77.8 % MAP and 93.9% average positive detection rate, which is higher than Faster RCNN and original Cascade RCNN.

关键词： Training Image segmentation Tiles Detectors Feature extraction Data models Ceramics

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When Shannon Meets Nonstochastic Information: Communication and Estimation

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IEEE Transactions on Automatic control 2025年

作者： Zhang, Wentao Zuo, Zhiqiang Zhao, Rui Wang, Yijing Hu, Guoqiang Zhang, Hui Wang, Yaonan Hunan University School of Robotics Changsha410082 China Nanyang Technological University Continental-NTU Corporate Lab Singapore639798 Singapore Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Nanyang Technological University School of Electrical and Electronic Engineering Singapore639798 Singapore National Engineering Research Center for Robot Visual Perception and Control Changsha410082 China Hunan University College of Electrical and Information Engineering Changsha410082 China

This notes focuses on the issue of whether or not the state of a plant can be estimated when the inputs of communication channel involve noise and disturbance simultaneously. It turns out to calculate the maximum capacity of stationary memoryless multiple quasi-access channel under nonstochastic information theory. It is shown that the maximum information rate over such a channel is determined by a convex hull spanned by the zero-error capacities which are specified on the underlying sample spaces. Moreover, the state of a plant could be estimated provided that the maximal information rate is strictly greater than the topology entropy. © 1963-2012 IEEE.

关键词： Communication channels (information theory)

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Heterogeneous microstructure and mechanical behaviour of Al-8.3Fe-1.3V-1.8Si alloy produced by laser powder bed fusion

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Virtual and Physical Prototyping 2023年第1期18卷 Article: e2155197页

作者： Yu, S.J. Wang, P. Li, H.C. Setchi, R. Wu, M.W. Liu, Z.Y. Chen, Z.W. Waqar, S. Zhang, L.C. Additive Manufacturing Institute Shenzhen University Shenzhen China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen China School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai China Cardiff School of Engineering Cardiff University Cardiff United Kingdom Department of Materials and Mineral Resources Engineering National Taipei University of Technology Taipei Taiwan Department of Mechanical Engineering Institute of Space Technology Islamabad Pakistan School of Engineering Edith Cowan University Perth Australia

The relationship between processing parameters, microstructure, and mechanical properties of Al-8.3Fe-1.3V-1.8Si alloy processed by laser powder bed fusion is seldom studied. Therefore, fully dense alloys with two parameters were selected to investigate this key issue. The results show that the alloy with low power and scanning speed (S200) shows fan-shell-shaped melt pools and laser tracks while another (S350) shows a deeper and wider melt pool. Both alloys obtain a heterogeneous microstructure without a secondary phase in melt pool (MP) and a nano-sized phase in melt pool boundary (MPB). The difference between solid-solution strengthening and Orowan strengthening in MP and MPB contributes to the difference in compressive yield strength (S200: 380 ± 14 MPa and S350: 705 ± 16 MPa), and heterogeneous nano-hardness results in different crack behaviours and failure strains. This work indicates that adjusting processing parameters is an effective method to control microstructure and mechanical properties of this alloy. © 2022 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Aluminum alloys

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A Novel Hybrid Method for Fault Diagnosis of Industrial Equipment Based on Vibration Signals

A Novel Hybrid Method for Fault Diagnosis of Industrial Equi...

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Prognostics and System Health Management Conference (PHM-Qingdao)

作者： Sen Tao Kai Wang Peng Zeng Tianda Yu Hao Wu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang China Nuclear Power Institute of China Chengdu China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China

Industrial equipment reliability is a critical issue that smart manufacturing systems must address. Implementation of online fault diagnosis for industrial equipment is a promising technology that can improve equipment reliability. Vibration analysis is a popular technique for equipment condition monitoring. For the non-linear and non-stationary features of industrial vibration signals, a hybrid model based on wavelet transform (WT), support vector machine (SVM), and grey wolf optimization algorithm (GWO) is proposed. The time-frequency domain features of fault signals are extracted by wavelet transform to solve the non-linearity of signals, and the obtained feature vectors are input into SVM for classification. Aiming at the problem of setting penalty coefficient and kernel function parameters, GWO is introduced to seek hyperparameters by using the hunting principle of wolves. In the experimental part, firstly, the comparison of the GWO-WT-SVM, GWO-SVM and SVM models was carried out. Secondly, Comparison with classical classification algorithms is made. Apparently, the GWO-WT-SVM model achieves higher accuracy than other models in bearing fault diagnosis.

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