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arXiv 2024年

作者： Ou, Ni Chen, Zhuo Luo, Shan The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China The Robot Perception Lab. Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However, this uni-modal selection means the sensor is only suitable for either manipulation or perception tasks. While markers are vital for manipulation, they can also obstruct the camera, thereby impeding perception. The dilemma of selecting between marker and markerless modes presents a significant obstacle. To address this issue, we propose a novel mode-switchable optical tactile sensing approach that facilitates transitions between the two modes. The marker-to-markerless transition is achieved through a generative model, whereas its inverse transition is realized using a sparsely supervised regressive model. Our approach allows a single-mode optical sensor to operate effectively in both marker and markerless modes without the need for additional hardware, making it well-suited for both perception and manipulation tasks. Extensive experiments validate the effectiveness of our method. For perception tasks, our approach decreases the number of categories that include misclassified samples by 2 and improves contact area segmentation IoU by 3.53%. For manipulation tasks, our method attains a high success rate of 92.59% in slip detection. Code, dataset and demo videos are availab.e at the project website https://***/Marker-Markerless-Transition/ Copyright © 2024, The Authors. All rights reserved.

关键词： Tactile sensors

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Connecting Disconnected Agents in Multiagent systems via Federated Control

Connecting Disconnected Agents in Multiagent Systems via Fed...

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European Control Conference (ECC)

作者： Rongrong Qian Zhisheng Duan Yuan Qi Tao Peng Wenbo Wang School of Artificial Intelligence Beijing University of Posts and Telecommunications (BUPT) Beijing China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China School of Electronic Engineering Beijing University of Posts and Telecommunications (BUPT) Beijing China Wireless Signal Processing and Network Lab (Key Lab. of Universal Wireless Communication Ministry of Education) Beijing University of Posts and Telecommunications (BUPT) Beijing China

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This study develops a control technique, called federated control, to connect disconnected agents in multiagent systems aided by control stations. Specifically, we first use a federated architecture to model multiagent systems with control stations. Based on this architecture, a federated-control procedure is proposed for the task of connecting disconnected agents, together with an initialization procedure. Then, how the federated-control procedure connects disconnected agents by incorporating simple global coordination (i.e., global averaging) is analyzed. We derive the close-form expression of the time sufficient to connect disconnected agents, which possesses interesting properties including early computability and delay independence. The convergence of the formation of multiagent systems and the velocities of all agents can also be proved.

关键词： Robot kinematics Oceans Computer architecture Control systems Space-air-ground integrated networks Path planning Delays

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Feature and Performance Comparison of FaaS Platforms

Feature and Performance Comparison of FaaS Platforms

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IEEE International Conference on software engineering and Service Sciences (ICSESS)

作者： Penghui Ma Peichang Shi Guodong Yi National Key Laboratory of Parallel and Distributed Processing College of Computer Science National University of Defense Technology Changsha China Key Laboratory of Software Engineering for Complex Systems College of Computer Science National University of Defense Technology Changsha China Xiangjiang Lab Changsha China School of Advanced Interdisciplinary Studies Hunan University Of Technology and Business Changsha China

With serverless computing offering more efficient and cost-effective application deployment, the diversity of serverless platforms presents challenges to users, including platform lock-in and costly migration. Moreover, due to the black box nature of function computing, traditional performance benchmarking methods are not applicable, necessitating new studies. This article presents a detailed comparison of six major public cloud function computing platforms and introduces a benchmarking framework for function computing performance. This framework aims to help users make comprehensive comparisons and select the most suitable platform for their specific needs.

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A Projection-Based Algorithm for Constrained L1- Minimization Optimization with Application to Sparse Signal Reconstruction

A Projection-Based Algorithm for Constrained L1- Minimizatio...

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International Conference on Information Science and Technology (ICIST)

作者： Qingshan Liu Wei Zhang Jiang Xiong Bingrong Xu Long Cheng School of Mathematics Southeast University Nanjing China College of Computer Science and Engineering Chongqing Three Gorges University Chongqing China School of Automation Huazhong University of Science and Technolog< Wuhan China State Key Lab. of Management and Control for Complex Systems University of Chinese Academy of Sciences Beijing China

In this paper, a projection-base algorithm is proposed for solving the constrained L 1 -minimization problem. Furthermore, the algorithm is utilized to sparse signal reconstruction. The L 1 -minimization is first converted into some equations which are described by the projections onto a hyper box set and the nonnegative quadrant. Then a iterative algorithm is proposed for solving the L 1 -minimization problem. Next, the algorithm is applied to sparse signal reconstruction described as an L 1 -minimization problem subject to L ∞ -norm noise constraint, or equivalently bound constraint. Finally, several experiments are presented to show the performance of the proposed algorithm.

关键词： Signal processing algorithms Signal reconstruction Optimization Convergence Electronic mail Recurrent neural networks Lyapunov methods

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Motion Planning for Heterogeneous Unmanned systems under Partial Observation from UAV

arXiv

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arXiv 2020年

作者： Chen, Ci Wan, Yuanfang Li, Baowei Wang, Chen Xie, Guangming Jiang, Huanyu College of Biosystems Engineering and Food Science Zhejiang University Hangzhou310058 China National Engineering Research Center for Software Engineering Peking University Beijing100871 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China Department of Ocean Science and Engineering Southern University of Science and Technology Shenzhen518055 China Peng Cheng Laboratory Shenzhen518055 China

For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs’ vast view scope. However, due to UAVs flight altitude limitations, it may be impossible to observe the global map, and motion planning in the local map is a POMDP (Partially Observable Markov Decision Process) problem. This paper proposes a motion planning algorithm for heterogeneous unmanned system under partial observation from UAV without reconstruction of global maps, which consists of two parts designed for perception and decision-making, respectively. For the perception part, we propose the Grid Map Generation Network (GMGN), which is used to perceive scenes from UAV’s perspective and classify the pathways and obstacles. For the decision-making part, we propose the Motion Command Generation Network (MCGN). Due to the addition of memory mechanism, MCGN has planning and reasoning abilities under partial observation from UAVs. We evaluate our proposed algorithm by comparing with baseline algorithms. The results show that our method effectively plans the motion of heterogeneous unmanned systems and achieves a relatively high success rate. Copyright © 2020, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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Experimental and Empirical Investigations of Traffic Flow Instability

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Transportation Research Procedia 2017年 23卷 157-173页

作者： Rui Jiang Cheng-Jie Jin H.M. Zhang Yong-Xian Huang Jun-Fang Tian Wei Wang Mao-Bin Hu Hao Wang Bin Jia MOE Key Lab. for Urban Transp. Complex Systems Theory & Technology Beijing Jiaotong Univ. Beijing 100044 People’s Republic of China School of Engineering Science University of Science & Technology of China Hefei Anhui 230026 People’s Republic of China Jiangsu Key Laboratory of Urban ITS Southeast University of China Nanjing Jiangsu 210096 People’s Republic of China Department of Traffic Engineering School of Transportation Engineering Tongji University Shanghai 200092 People’s Republic of China Department of Civil & Env. Engineering University of California Davis USA Institute of Systems Engineering College of Management & Economics Tianjin University Tianjin 300072 China

Traffic instability is an important but undesirable feature of traffic flow. This paper reports our experimental and empirical studies on traffic flow instability. We have carried out a large scale experiment to study the car-following behavior in a 51-car-platoon. The experiment has reproduced the phenomena and confirmed the findings in our previous 25-car-platoon experiment, i.e., standard deviation of vehicle speeds increases in a concave way along the platoon. Based on our experimental results, we argue that traffic speed rather than vehicle spacing (or density) might be a better indicator of traffic instability, because vehicles can have different spacing under the same speed. For these drivers, there exists a critical speed between 30 km/h and 40 km/h, above which the standard deviation of car velocity is almost saturated (flat) along the 51-car-platoon, indicating that the traffic flow is likely to be stable. In contrast, below this critical speed, traffic flow is unstable and can lead to the formation of traffic jams. Traffic data from the Nanjing Airport Highway support the experimental observation of existence of a critical speed. Based on these findings, we propose an alternative mechanism of traffic instability: the competition between stochastic factors and the so-called speed adaptation effect, which can better explain the concave growth of speed standard deviation in traffic flow.

关键词： Traffic flow stability Car-following Experiment

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FCloudless: A Performance-Aware Collab.rative Mechanism for JointCloud Serverless

FCloudless: A Performance-Aware Collaborative Mechanism for ...

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IEEE International Conference on Joint Cloud Computing (JCC)

作者： Jianfei Liu Huaimin Wang Peichang Shi Yaojie Li Penghui Ma Guodong Yi National Key Laboratory of Parallel and Distributed Computing College of Computer Science National University of Defense Technology Changsha 410073 China Key Laboratory of Software Engineering for Complex Systems College of Computer Science National University of Defense Technology Changsha 410073 China Xiangjiang Lab Changsha 410073 China School of Advanced Interdisciplinary Studies Hunan University Of Technology and Business Changsha 410073 China

As a new stage in the development of the cloud computing paradigm, serverless computing has the high-level abstraction characteristic of shielding underlying details. This makes it extremely challenging for users to choose a suitable serverless platform. To address this, targeting the jointcloud computing scenario of heterogeneous serverless platforms across multiple clouds, this paper presents a jointcloud collab.rative mechanism called FCloudless with cross-cloud detection of the full lifecycle performance of serverless platforms. Based on the benchmark metrics set that probe performance critical stages of the full lifecycle, this paper proposes a performance optimization algorithm based on detected performance data that takes into account all key stages that affect the performance during the lifecycle of a function and predicts the overall performance by combining the scores of local stages and dynamic weights. We evaluate FCloudless on AWS, AliYun, and Azure. The experimental results show that FCloudless can detect the underlying performance of serverless platforms hidden in the black box and its optimization algorithm can select the optimal scheduling strategy for various applications in a jointcloud environment. FCloudless reduces the runtime by 23.3% and 24.7% for cold and warm invocations respectively under cost constraints.

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A graph theoretic algorithm for removing redundant protein sequences

A graph theoretic algorithm for removing redundant protein s...

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3rd International Conference on Bioinformatics and Biomedical engineering, iCBBE 2009

作者： Pengfei, Liu Zhenbing, Zeng Ziliang, Qian KaiYan, Feng Yudong, Cai Software Engineering Institute of East China Normal University 3663 North Zhongshan Road Shanghai 200062 China CAS-MPG Partner Institute for Computational Biology Shanghai Institutes for Biological Sciences Chinese Academy of Sciences 320 Yueyang Road Shanghai 200031 China Bioinformatics Center Key Lab. of Systems Biology Shanghai Institutes for Biological Sciences 320 Yueyang Road Shanghai 200031 China Graduate School of the Chinese Academy of Sciences 19 Yuquan Road Beijing 100039 China Division of Imaging Science and Biomedical Engineering University of Manchester Stopford Building M13 9PT United Kingdom Institute of System Biology Shanghai University 99 ShangDa Road Shanghai 200244 China

ISBN: (纸本)9781424429028

Many biological sequence databases have redundant sequences which are not helpful to statistical analysis and require more computational time and resources to process. This lead us to design a new and fast program to generate a non-redundant sequence set. A graph theoretic algorithm was designed to process BLAST output and remove redundant proteins from a protein sequence database. We have developed a program named BlastCuller which can be used to generate a non-redundant protein database. BlastCuller is a flexible program with a parameter of sequence similarity cutoff, which can be a decimal from 0.0 to 1.0. This program can be downloaded from http://***/BlastCuller. html. ©2009 IEEE.

关键词： Graph theory

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Direct preparation of TiFe alloy by electrolytic reduction from TiO2 and Fe2O3

Beijing Keji Daxue Xuebao/Journal of University of Science a...

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Beijing Keji Daxue Xuebao/Journal of University of Science and Technology Beijing 2008年第6期30卷 620-624页

作者： Guo, Xiaoling Guo, Zhancheng Wang, Zhi National Key Laboratory of Complex Multiphase Systems Institute of Process Engineering Chinese Academy of Sciences Beijing 100080 China Graduate University Chinese Academy of Sciences Beijing 100049 China Key Lab. of the Ministry of Education of China for Ecology and Circular Metallurgy University of Science and Technology Beijing Beijing 100083 China

TiFe alloy was prepared directly by electrolytic reduction from the mixture of TiO2 and Fe2O3 in molten CaCl2 at 1173 K and 3.1 V. The reduced product was TiFe with an oxygen content of 0.43% in mass fraction after electrolyzing for 10 h. The whole electrolysis process, roughly, includes two periods: The reduction of Fe element and the forming of TiFe. In the initial stage of electrolysis, Fe element is reduced first prior to titanium and CaTiO3 is formed. Then the external cathode is reduced to TiFe. Meanwhile, the cathode is layered: The external loose layer mainly contains TiFe and the inner layer, which is much harder and more compact, chiefly consists of Fe and CaTiO3. Electrochemical behavior test shows that the discharge capacity of TiFe alloy produced by electrolysis without activation is about 33 mAhg-1 and TiFe alloy by this performance is better than those prepared by other methods.

关键词： Chlorine compounds

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