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IEEE Transactions on intelligent Vehicles 2024年 1-18页

作者： Yang, Dongsheng Yu, Lei Zhang, Yi Zhu, Fenghua Li, Qiang Cui, Huachao Ma, Qiongmin Fan, Lili Tian, Yonglin Jinan University Guangzhou China Intelligent Science & Technology Academy Limited of CASIC Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China 28th Research Institute of China Electronics Technology Group Corporation Nanjing China National Key Laboratory for Complex Systems Simulation National University of Defense Technology Changsha China School of Information and Electronics Beijing Institute of Technology Beijing China

A C2 computing framework for unmanned systems to perform complex tasks is proposed using methods of system of systems engineering, which is formed by combining the macro-scale command and control (C2) process mechanism model (PREA loop) and micro-scale C2 process mechanism model (OODA loop). Guided by PREA loop and OODA loop, the computing framework is divided into four steps and three kinds of transformations. The four steps are design, construction, operation monitoring, and assessment. The three transformations are tactical feedback, campaign feedback, and strategic feedback. A C2 organization model of joint landing combat force is established against the background of a typical complex task of joint landing operation, and the C2 computing framework based on the PREA &OODA is used to implement the C2 activities of the joint landing combat force. The influence of the computing framework on the performance of unmanned systems under different task conditions is verified, including task coordination load, task efficiency and sensitivity of unmanned systems response. Authors

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Experimental demonstration of reconstructing quantum states with generative models

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Science Bulletin 2025年第10期70卷 1572-1575页

作者： Li, Xuegang Jiang, Wenjie Hua, Ziyue Wang, Weiting Pan, Xiaoxuan Cai, Weizhou Lu, Zhide Han, Jiaxiu Wu, Rebing Zou, Chang-Ling Deng, Dong-Ling Sun, Luyan Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University Beijing100084 China Shanghai Qi Zhi Institute Shanghai200232 China Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing100084 China Hefei National Laboratory Hefei230088 China CAS Key Laboratory of Quantum Information University of Science and Technology of China Hefei230026 China

Highlights • Experimental demonstration of quantum state reconstruction with generative models. • RNN-based model efficiently learns quantum states from experimental data. • Linear resource scaling outperforms traditi...

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning 42

Feature Space Augmentation and Old Class Space Preservation ...

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Siying Liu, Jiazhe Li, Yuanhao Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581543

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Catastrophic forgetting Class incremental learning Feature space augmentation Old class space preservation Pseudo-new classes

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On the Education of Networked systems 41

On the Education of Networked Systems

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第41届中国控制会议

作者： Qing-Shan Jia Center for Intelligent and Networked Systems (CFINS) Department of AutomationBeijing National Research Center for Information Science and Technology (BNRist)Tsinghua University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Networked systems have become pervasive in the past two decades in modern *** applications can be found from smart buildings to smart *** is important to educate the students to be ready for designing,analyzing,and improving networked *** this is becoming more and more challenging due to the conflict between the growing knowledge and the limited time in the *** this work we consider this important problem and provide a case study to address these challenges.A group of courses have been developed by the center for intelligent and networked systems,department of automation,Tsinghua University in the past two decades for undergraduate and graduate *** also report the related education platform and textbook *** this would be useful for the other universities.

关键词： Networked systems Control automation High Education Curriculum

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Motion Capture and Gait Analysis of Ants with Leg Injuries 42

Motion Capture and Gait Analysis of Ants with Leg Injuries

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Yuanhao Meng, Chang Zhong, Shutong Wang, Zhijing Zhao, Feng Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Gait analysis

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Exchange Strategies for Multi-Colony Ant Algorithms in Dynamic Environments 13

Exchange Strategies for Multi-Colony Ant Algorithms in Dynam...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Mavrovouniotis, Michalis Li, Changhe Yazdani, Danial Handjimitsis, Diofantos Eratosthenes Centre of Excellence Limassol Cyprus Cyprus University of Technology Department of Civil Engineering and Geomatics Limassol Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China University of Technology Sydney Faculty of Engineering & Information Technology Sydney Australia

ISBN: (纸本)9798350308365

In dynamic optimization problems where optimal solutions change over time, traditional ant colony optimization (ACO) algorithms face limitations. This study explores the adaptation of multi-colony ACO algorithms, known for their enhanced search capabilities in stationary problems, to tackle optimization problems in dynamic environments. Various strategies for exchanging information between colonies, which is a critical factor influencing algorithm performance, are investigated. Using the dynamic traveling salesman problem as a foundation, we generate test cases to reflect real-world complexities. Our results on a set of problem instances reveal that the choice of communication strategy between colonies significantly impacts the adaptability and efficiency of multi-colony ACO algorithms in tracking moving optimum. © 2024 IEEE.

关键词： Ant colony optimization

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Unified Addressing Algorithm for Tasks in Cloud Control systems 41

Unified Addressing Algorithm for Tasks in Cloud Control Syst...

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第41届中国控制会议

作者： Guan Wang Yufeng Zhan Yuanqing Xia Liping Yan Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Information Science and Engineering University of ZaoZhuang

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the rapid development of cloud computing and control theory,a new paradigm of networked control systems named cloud control systems has been proposed to satisfy the requirements of large-scale and complex *** is critical to manage large-scale tasks with personalized needs on the large number of heterogeneous ***,current TCP/IPbased addressing approach does not consider the runtime constraints of tasks,resulting highly concurrent service search,and communication between tasks will become the system *** this paper,we propose a task property encoding method which takes multi-dimensional properties into *** on the proposed encoding method,we design a uniform addressing method for tasks in the ***,we experimentally demonstrate the effectiveness of task property encoding,and the unified addressing method for tasks is more effective than other methods in the case of high task concurrency.

关键词： Cloud control systems address encoding cloud-edge-device cooperation

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Simulation analysis of erosion characteristics of slurry pipelines based on CFD-DDPM pipeline parameters 43

Simulation analysis of erosion characteristics of slurry pip...

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43rd Chinese Control Conference, CCC 2024

作者： Yuan, Haoran Wu, Jiande Xiong, Xin Yunnan University Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan Kunming650500 China Kunming University of Science and Technology Faculty of Information Engineering and Automation Yunnan Kunming650500 China Kunming University of Science and Technology Yunnan Key Laboratory of Intelligent Control and Application Yunnan Kunming650500 China

ISBN: (纸本)9789887581581

In order to explore the impact of pipe diameter, bend-diameter ratio and bend angle on the erosion of slurry pipe, a numerical simulation method approach grounded in Computational Fluid Dynamics - Dense Discrete Phase Model (CFD-DDPM) is proposed. Firstly, the geometric models of bends with different pipe diameters, bend-diameter ratios, and bend angles are constructed;secondly, the slurry pipe erosion model based on Dense Discrete Phase Model (DDPM) is constructed;then, model validation is conducted on the slurry pipe erosion model to affirm the accuracy of the model;finally, the computational fluid dynamics method is employed to simulate the erosion and wear behavior of the pipeline, to investigate the impact of pipe diameter, bend-diameter ratio and bend angle on the erosion and wear of the slurry pipeline. At the same time, gray correlation analysis was also used to analyze the significant relationship between the three pipeline factors and erosion and wear. The results show that the main erosion area is not determined, with the change of the pipeline parameters, the most serious erosion area will move;the effect of different pipeline parameter variations on the erosion rate is different, in which the pipe diameter of the largest impact, the second largest bend-diameter ratio, the smallest impact of the bend angle. Therefore, in the design of slurry pipeline, should first consider the influence of pipe diameter factors. © 2024 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Slurry pipelines

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Research on Path Planning of Mobile Robot Based on DWA-IMP-A∗ Algorithm 42

Research on Path Planning of Mobile Robot Based on DWA-IMP-A...

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42nd Chinese Control Conference, CCC 2023

作者： Liu, Zhi Zhang, Lin Wang, Shoukun Niu, Tianwei Xu, Yongkang Cao, Jin School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing100081 China

ISBN: (纸本)9789887581543

Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of path planning, the most popular A∗ algorithm has some problems, such as heuristic function cannot be estimated accurately, node redundancy, path is not smooth, and obstacle avoidance cannot be achieved in real time. To solve these problems, A fusion algorithm of improved A∗ combined with reverse path and dynamic window method (DWA-IMP-A∗) was proposed. The algorithm refines the heuristic function by incorporating the reverse path. The node optimization algorithm is used to further reduce the path length. The generated trajectories are smoothed by cubic spline interpolation. At the same time, it is integrated with the improved DWA algorithm to improve the efficiency and safety of robot path planning. The algorithm takes ROS mobile robot as the carrier and is tested under typical road conditions. Compared with A∗ algorithm, the planning time is reduced by 54.6% and the path length is reduced by 6.37%. Experimental results verify the effectiveness and robustness of the algorithm. The research results have certain reference significance for the path planning of various types of mobile robots and the research of driverless vehicles. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Motion planning

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Resilient Formation Control Based on Watermarks for Networked Quadrotors under Deception Attacks

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IEEE Transactions on Vehicular technology 2025年第6期74卷 8839-8850页

作者： Zhan, Weiwei Miao, Zhiqiang Zeng, Jianxin Chen, Yanjie Wu, Zheng-Guang He, Wei Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China Fuzhou University School of Mechanical Engineering and Automation Fuzhou350108 China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha410082 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence Beijing100083 China

This article addresses the problem of formation control of networked UAVs under deception attacks. A lightweight resilient formation control framework based on watermarks is proposed to achieve the desired formation configuration without extra monitoring attack status. Since deception attacks are covert, the shared information is watermarked before transmission to establish the protocol among networked UAVs. To facilitate the resilient formation controller design, a decoder is first developed to decipher the inverse transformation of deception attacks, where the watermark is the criterion for approximating the inverse transformation. The Gauss error function is introduced to eliminate some unrealistic input commands under deception attacks, obtaining the predefined input performance. Then, a resilient formation controller is developed to guarantee the global boundedness of all signals within the inner-loop and outerloop system, while the formation error converges to a small neighborhood of zero by solving the linear matrix inequality. Two challenging deception attack examples in simulations and experiments are conducted to verify the effectiveness and performance of the proposed resilient formation control framework. © 1967-2012 IEEE.

关键词： Inverse transforms

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