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Parallel Seeds:From Foundation Models to Foundation Intelligence for Agricultural Sustainability

IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 481-484页

作者： Laiyi Fu Shunkang Ling Danyang Wu Mengzhen Kang Fei-Yue Wang Hequan Sun the Shool of Automation Science and Engineering Faculty of Electronic and Information Engineering Xi'an Jiaotong University the College of Information Engineering Northwest A&F University IEEE the State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences

THE development of agriculture faces significant challenges due to population growth, climate change, land depletion, and environmental pollution, threatening global food security [1]. This necessitates the development of sustainable agriculture, where a fundamental step is crop breeding to improve agronomic or economic traits, e.g., increasing yields of crops while decreasing resource usage and minimizing pollution to the environment [2].

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Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor Based Target Following 25

Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor B...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Zhang, Haodi Su, Jinya Li, Shihua School Of Automation Southeast University Nanjing China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education Nanjing China

ISBN: (纸本)9798350340266

This paper presents a vision-based tracking control for a quadrotor to follow a moving target without assuming any quadrotor-target communication. Constant turn rate & acceleration model (CTRA) is first drawn to describe the target's motion, allowing to infer unmeasurable target motion variables while mitigating the adverse effects of vision sensor noises through an unscented Kalman filter (UKF). Then the target's future trajectory is firstly predicted by using a Bézier curve, which is further treated as virtual observation of the CTRA model within the prediction horizon so that a better target trajectory prediction is derived by using the proposed Bézier- UKF fusion predictor method. The outputs of Bézier- UKF predictor are input into an incremental model predictive control (IMPC) planner as the target reference, enabling the derivation of the desired position, velocity and acceleration signal for the quadrotor. These signals are implemented by the low-level SE(3) geometric controller. Finally, we conduct a comparative study of the proposed method against baseline planners such as MPC and IMPC planners in high-fidelity AirSim simulation environment, demonstrating better target following performance. © 2024 IEEE.

关键词： Model predictive control

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Enhancing Human-AI Trust by Describing AI Decision-Making Behavior

Enhancing Human-AI Trust by Describing AI Decision-Making Be...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Lou, Zhouwei Wei, Haikun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350316308

Air combat game is a highly complex and dynamic decision-making problem that is crucial for ensuring national security and improving combat efficiency. In recent years, artificial intelligence (AI) technologies such as deep reinforcement learning have made significant progress in the air combat game field, surpassing human experts' capabilities. However, the decision-making process of AI algorithms often lacks transparency and interpretability, resulting in low trust in them, which limits their promotion and application in practical scenarios. To enhance human-AI trust, this paper proposes a decision explanation method based on natural language generation. As the most direct means of information transmission, natural language can help people quickly understand the behavior and intent of AI algorithms. Taking a one-on-one air combat game as an experimental scenario, this paper constructs a combat dataset mapping temporal states to behavioral explanations and designs an attention-based Encoder-decoder architecture (AED) capable of generating natural language descriptions of current AI decision-making behavior based on a period of combat data. Experimental results show that AED can accurately describe the decision-making behavior of AI algorithms and help improve the level of human-AI trust. © 2023 IEEE.

关键词： Deep learning

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Autonomous Path Planning and Realization for Dual Robot Cooperation Based on ROS Framework 8

Autonomous Path Planning and Realization for Dual Robot Coop...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Shao, Jiawei Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

To realize dual-robot autonomous path planning and realization, the trajectory planning research of dual-robot is carried out using the open-source robot operating system ROS as the simulation platform. The motion planning-related file configuration is completed by using MoveIt! In trajectory planning, cubic spline interpolation is performed on the trajectory points generated by the RRT-Connect path planning algorithm to complete the planning of the dual-arm assembly task. The communication between ROS nodes and ROS is established in the controller, and the processed trajectory points are communicated with the controller through ROS-Industrial. The experimental results show that the trajectory of the dual robot movement process is smooth and continuous, the stability is strong, and the error is small, which can ensure the completion of basic assembly tasks. © 2023 IEEE.

关键词： Motion planning

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Time-Optimal and Smooth Trajectory Planning Based on Continuous Pseudo-Acceleration 8

Time-Optimal and Smooth Trajectory Planning Based on Continu...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Wang, Xin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350300178

The current time-optimal trajectory planning based on dynamics does not take into account the continuity of joint torque. Although the time obtained by the solution of the original time-optimal path parameterization (TOPP) algorithm is optimal, the joint torque obtained by the solution is not continuous, and the discontinuous joint torque will cause the manipulator to resonate, which will reduce the accuracy of the trajectory, making the obtained trajectory in practical engineering applications cannot be effectively applied. Therefore, this paper improves the problem of discontinuous torque on the basis of the TOPP algorithm, and proposes to use a quadratic polynomial curve to deal with the discontinuous part of the pseudo-acceleration in the phase plane composed of position and pseudo-acceleration, which not only ensures the integrity of the path, but also makes the joint torque continuous and smoothes the joint torque trajectory to some extent. This method is verified by the simulation experiment of the two-link manipulator. © 2023 IEEE.

关键词： Trajectories

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YOLO-MSP: Effective Cigarette Detection YOLO Network for Surveillance Scenario 10

YOLO-MSP: Effective Cigarette Detection YOLO Network for Sur...

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10th International Conference on systems and Informatics, ICSAI 2024

作者： Zhang, Zhiwei Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China

ISBN: (纸本)9798331510138

This paper presents an new approach to enhance the detection of smoking behavior using object detection neural networks, focusing on the challenge of small object detection, namely cigarettes in video frames. We introduce a Multi-Spatial Pooling (MSP) bottleneck mechanism integrated into a YOLOv8 backbone, which significantly improves the network's ability to discern smaller objects without compromising real-time inference capabilities. This enhancement facilitates the extraction of relevant features across various scales and efficiently handles the computational overhead, thereby boosting the detection accuracy and operational efficiency. Our results demonstrate a substantial improvement in performance metrics over traditional and existing neural network approaches, making this method highly suitable for real-time applications in diverse scenarios. © 2024 IEEE.

关键词： Deep learning

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End-point Steady control for Whole-Body control Mobile Manipulators by Null Space Tunation 8

End-point Steady Control for Whole-Body Control Mobile Manip...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Enjin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments. © 2023 IEEE.

关键词： Jacobian matrices

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A zeroth-order algorithm for distributed optimization with stochastic stripe observations

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Science China(Information Sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

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PWM Wave-Based Cooperative Vector control of Multiple Stepper Motors for Unmanned Surface Vehicles 7

PWM Wave-Based Cooperative Vector Control of Multiple Steppe...

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7th Asian Conference on Artificial Intelligence Technology, ACAIT 2023

作者： Xu, Ruizhe Xu, Yihang Wu, Yongbao Liu, Jian Xue, Lei Southeast University Key Laboratory of Measurement And Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9798350359145

This paper studies the control system of multiple stepper motors. Four stepper motors are selected to design the vector control system for the actual application scenario of the unmanned surface vehicles. This paper designs a PWM wave-based motor control algorithm taking into account the characteristics of stepper motors. We proposes a closed-loop control algorithm incorporating magnetic encoders. The system applies CAN bus to realize the communication among stepper motors, enabling distributed cooperative control four stepper motors of the unmanned surface vehicles. In this paper, the multiple stepper motor system is modeled and finally simulated and experimentally verified to achieve cooperative vector control of multiple stepper motors for surface vehicles. © 2023 IEEE.

关键词： Vectors

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PMSM System Identification by Knowledge-informed Machine Learning 22

PMSM System Identification by Knowledge-informed Machine Lea...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Yu, Yue Tong, Jiageng Xia, Jinhui Su, Jinya Li, Shihua School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9798331527471

Because of its excellent efficiency, compact dimensions, and accurate control features, Permanent Magnet Synchronous Motor (PMSM) are experiencing widespread applications across various industries. By accurately characterizing the dynamic behavior of PMSM systems through system identification, engineers can ensure that PMSM motors reach their maximum potentials and meet the stringent requirements of modern industrial and technical systems while reducing energy consumption and maintenance costs. The traditional recursive least squares method is sensitive to noises, and unable to accurately identify parameters in complex environments. Pure data-driven models lack interpretability and require complex model architecture and computational costs. To this end, this work draws knowledge-informed neural ordinary differential equations (NODEs) for system identification, which embeds system prior knowledge into the NODEs for more efficient and accurate model learning. Comparative simulations show that this method not only obtains a higher-precision system model, but also significantly reduces the amount of training data and computation costs. © 2024 IEEE.

关键词： Cost reduction

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