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Locomotion control of a hybrid propulsion biomimetic underwater vehicle via deep reinforcement learning

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Locomotion control of a hybrid propulsion biomimetic underwa...

2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Zhang, Tiandong Wang, Rui Wang, Yu Wang, Shuo Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665436786

This paper presents a novel deep reinforcement learning (DRL) method to solve the locomotion control problem of the biomimetic underwater vehicle (BUV) with hybrid propulsion, in order to meet the challenge of intractable multi-fins coordination and the complex hydrodynamic model. The system overview of the BUV, named RoboDact, with two flexible long fins and a double-joint fishtail as hybrid propulsion, is introduced. After that, the locomotion control problem is modeled as a Markov decision process (MDP) to be solved. Therefore, the locomotion control method based on soft actor-critic (SAC, a novel DRL algorithm) is proposed. The simulation environment is established based on the kinetic model for interaction. Finally, the feasibility and effectiveness of the proposed control method is demonstrated after extensive simulations. It will provide rich insights into the coordination control of biomimetic underwater vehicles. © 2021 IEEE.

关键词： Reinforcement learning

RAG-based Crowdsourcing Task Decomposition via Masked Contrastive Learning with Prompts

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arXiv 2024年

作者： Yang, Jing Wang, Xiao Zhao, Yu Liu, Yuhang Wang, Fei-Yue The State Key Laboratory for Management and Control of 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 School of Artificial Intelligence Anhui University Hefei266114 China Qingdao Academy of Intelligent Industries Qingdao230031 China National Key Laboratory of Information Systems Engineering National University of Defense Technology China Macau University of Science and Technology 999078 China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing100098 China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing100190 China

Crowdsourcing is a critical technology in social manufacturing, which leverages an extensive and boundless reservoir of human resources to handle a wide array of complex tasks. The successful execution of these complex tasks relies on task decomposition (TD) and allocation, with the former being a prerequisite for the latter. Recently, pre-trained language models (PLMs)based methods have garnered significant attention. However, they are constrained to handling straightforward common-sense tasks due to their inherent restrictions involving limited and difficult-to-update knowledge as well as the presence of "hallucinations". To address these issues, we propose a retrieval-augmented generation-based crowdsourcing framework that reimagines TD as event detection from the perspective of natural language understanding. However, the existing detection methods fail to distinguish differences between event types and always depend on heuristic rules and external semantic analyzing tools. Therefore, we present a Prompt-Based Contrastive learning framework for TD (PBCT), which incorporates a prompt-based trigger detector to overcome dependence. Additionally, trigger-attentive sentinel and masked contrastive learning are introduced to provide varying attention to trigger and contextual features according to different event types. Experiment results demonstrate the competitiveness of our method in both supervised and zero-shot detection. A case study on printed circuit board manufacturing is showcased to validate its adaptability to unknown professional domains. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

Remote Operation with Haptic Force and Virtual Proxy for an Underwater Vehicle-Manipulator System 10

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Remote Operation with Haptic Force and Virtual Proxy for an ...

10th IEEE Data Driven Control and Learning systems Conference, DDCLS 2021

作者： Ma, Jin Wang, Yu Wang, Rui Wang, Shuo University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cas Center for Excellence in Brain Science and Intelligence Technology Shanghai200031 China

ISBN: (纸本)9781665424233

This paper aims to investigate a smooth teleoperation method for the underwater vehicle-manipulator system. First, a coordinated mapping control method for the vehicle is presented. The haptic force is considered to help assist the operation. Then, two mapping modes are used to teleoperate the manipulator: when the end-effector needs to move in a large area, two virtual points and a spring-damping system are implemented to filter the operator's hand jitter and limit the manipulator's speed;when the end-effector needs to move in a small area, a position increment control method with a small proportional coefficient is used to improve the precision. Finally, the simulation demonstrates the effectiveness of the proposed teleoperation method. © 2021 IEEE.

关键词： Manipulators

GPR and SPSO-CG based gait pattern generation for subject-specific training

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science China(Information sciences) 2021年第8期64卷 244-246页

作者： Weiqun WANG Weiguo SHI Shixin REN Zeng-Guang HOU Xu LIANG Jiaxin WANG Liang PENG The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Dear editor,Gait training has been proved effective for recovery of walking ability for nerve injury patients caused by stroke, spinal cord injury(SCI), traumatic brain injury(TBI), etc. The traditional gait training methods, usually carried out by hands, are laborious and time-consuming, and hence, the training intensity is difficult to be maintained and the rehabilitation results are not satisfactory.

关键词： GPR and SPSO-CG based gait pattern generation for subject-specific training

PSTNet: Enhanced Polyp Segmentation with Multi-scale Alignment and Frequency Domain Integration

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arXiv 2024年

作者： Xu, Wenhao Xu, Rongtao Wang, Changwei Li, Xiuli Xu, Shibiao Guo, Li School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing100876 China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Jinan250013 China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China AI Lab Deepwise Healthcare Beijing100080 China

Accurate segmentation of colorectal polyps in colonoscopy images is crucial for effective diagnosis and management of colorectal cancer (CRC). However, current deep learning-based methods primarily rely on fusing RGB information across multiple scales, leading to limitations in accurately identifying polyps due to restricted RGB domain information and challenges in feature misalignment during multi-scale aggregation. To address these limitations, we propose the Polyp Segmentation Network with Shunted Transformer (PSTNet), a novel approach that integrates both RGB and frequency domain cues present in the images. PSTNet comprises three key modules: the Frequency Characterization Attention Module (FCAM) for extracting frequency cues and capturing polyp characteristics, the Feature Supplementary Alignment Module (FSAM) for aligning semantic information and reducing misalignment noise, and the Cross Perception localization Module (CPM) for synergizing frequency cues with high-level semantics to achieve efficient polyp segmentation. Extensive experiments on challenging datasets demonstrate PSTNet’s significant improvement in polyp segmentation accuracy across various metrics, consistently outperforming state-of-the-art methods. The integration of frequency domain cues and the novel architectural design of PSTNet contribute to advancing computer-assisted polyp segmentation, facilitating more accurate diagnosis and management of CRC. © 2024, CC BY.

关键词： Frequency domain analysis

Brain-inspired Evolutionary Architectures for Spiking Neural Networks

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arXiv 2023年

作者： Pan, Wenxuan Zhao, Feifei Zhao, Zhuoya Zeng, Yi The Brain-inspired Cognitive Intelligence Lab Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

The complex and unique neural network topology of the human brain formed through natural evolution enables it to perform multiple cognitive functions simultaneously. Automated evolutionary mechanisms of biological network structure inspire us to explore efficient architectural optimization for Spiking Neural Networks (SNNs). Instead of manually designed fixed architectures or hierarchical Network Architecture Search (NAS), this paper evolves SNNs architecture by incorporating brain-inspired local modular structure and global cross-module connectivity. Locally, the brain region-inspired module consists of multiple neural motifs with excitatory and inhibitory connections;Globally, we evolve free connections among modules, including long-term cross-module feedforward and feedback connections. We further introduce an efficient multi-objective evolutionary algorithm based on a few-shot performance predictor, endowing SNNs with high performance, efficiency and low energy consumption. Extensive experiments on static datasets (CIFAR10, CIFAR100) and neuromorphic datasets (CIFAR10-DVS, DVS128-Gesture) demonstrate that our proposed model boosts energy efficiency, archiving consistent and remarkable performance. This work explores brain-inspired neural architectures suitable for SNNs and also provides preliminary insights into the evolutionary mechanisms of biological neural networks in the human brain. © 2023, CC BY-NC-ND.

关键词： Neural networks

Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

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Visuotactile Feedback Parallel Gripper for Robotic Adaptive Grasping

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Visuotactile Feedback Parallel Gripper for Robotic Adaptive ...

IEEE International Conference on Robotics and Biomimetics

作者： Boyue Zhang Shaowei Cui Chaofan Zhang Jingyi Hu Shuo Wang School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai China

ISBN: (纸本)9781665481106

In robot grasp and dexterous manipulation tasks, tactile sensing is important for the control adjustment of the manipulator. In this paper, we present a novel low-cost parallel gripper with high-resolution tactile sensing, named the GelStereo Gripper. Furthermore, an adaptive grasp strategy is proposed to endow the gripper with tactile-feedback grasp stability-maintaining ability. We install the gripper on our robot platform and conduct various grasp experiments by utilizing proposed control methods. Experimental results verify the reliability of the GelStereo gripper and also prove the effectiveness of the proposed strategy for experimental objects with different features.

关键词： Shape Pose estimation Force Tactile sensors Grasping Robot sensing systems Sensors

Temporal Knowledge Sharing enable Spiking Neural Network Learning from Past and Future

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arXiv 2023年

作者： Dong, Yiting Zhao, Dongcheng Zeng, Yi The School of Future Technology University of Chinese Academy of Sciences Beijing100049 China The Brain-Inspired Cognitive Intelligence Lab Institute of Automation Chinese Academy of Sciences Beijing100190 China The Brain-Inspired Cognitive Intelligence Laboratory Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Spiking Neural Networks (SNNs) have attracted significant attention from researchers across various domains due to their brain-like information processing mechanism. However, SNNs typically grapple with challenges such as extended time steps, low temporal information utilization, and the requirement for consistent time step between testing and training. These challenges render SNNs with high latency. Moreover, the constraint on time steps necessitates the retraining of the model for new deployments, reducing adaptability. To address these issues, this paper proposes a novel perspective, viewing the SNN as a temporal aggregation model. We introduce the Temporal Knowledge Sharing (TKS) method, facilitating information interact between different time points. TKS can be perceived as a form of temporal self-distillation. To validate the efficacy of TKS in information processing, we tested it on static datasets like CIFAR10, CIFAR100, ImageNet-1k, and neuromorphic datasets such as DVS-CIFAR10 and NCALTECH101. Experimental results demonstrate that our method achieves state-of-the-art performance compared to other algorithms. Furthermore, TKS addresses the temporal consistency challenge, endowing the model with superior temporal generalization capabilities. This allows the network to train with longer time steps and maintain high performance during testing with shorter time steps. Such an approach considerably accelerates the deployment of SNNs on edge devices. Finally, we conducted ablation experiments and tested TKS on fine-grained tasks, with results showcasing TKS's enhanced capability to process information efficiently. © 2023, CC BY.

关键词： Neural networks