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Can ChatGPT Boost Artistic Creation:The Need of Imaginative Intelligence for Parallel Art

IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 835-838页

作者： Chao Guo Yue Lu Yong Dou Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

CHATGPT,one of the leading Large Language Models(LLMs),has acquired linguistic capabilities such as text comprehension and logical reasoning,enabling it to engage in natural conversations with humans.

关键词： such has reasoning

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Multi-functional motion control and simulation of a large unmanned mobile manipulator for autonomous grasping scenes 41

Multi-functional motion control and simulation of a large un...

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第41届中国控制会议

作者： Wei Ma Yirong Liu Rongsheng Wang Fang Fang Bo Zhou Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realizes its multi-functional motion control and ***,this paper analyzes the kinematics models of the manipulator and mobile base,and describes them with D-H parameters;The whole-body kinematics model of the mobile manipulator is obtained by integrating the mobile base and the ***,in order to meet the requirements of path planning and motion simulation of mobile manipulator in different scenarios,this paper designs three different simulation modes and realizes the simulation in virtual environment,the simulation combining actual controller and virtual robot and the simulation of digital twin ***,different experiments are designed to verify the feasibility and effectiveness of the three simulation methods.

关键词： mobile manipulation whole-body model path planning motion simulation digital twin system

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The First Five Years of a Phase Theory for complex systems and Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1728-1743页

作者： Dan Wang Wei Chen Li Qiu Division of Decision and Control Systems KTH Royal Institute of TechnologyStockholm 10044Sweden Department of Mechanics and Engineering Science&the State Key Laboratory for Turbulence and Complex Systems Peking UniversityBeijing 100871China Hong Kong University of Science and Technology Hong KongChinaand also with the Southern University of Science and TechnologyShenzhen 518055China

In this paper,we review the development of a phase theory for systems and networks in its first five years,represented by a trilogy:Matrix phases and their properties;The MIMO LTI system phase response,its physical interpretations,the small phase theorem,and the sectored real lemma;The synchronization of a multi-agent network using phase *** the end,we also summarize a list of ongoing research on the phase theory and speculate what will happen in the next five years.

关键词： Consensus and synchronization matrix phases multi-agent systems phase theory sectored real lemma small phase theorem.

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engineering of Fe d-band center in Fe_(3)O_(4)/CeO_(2)hetero-nanoparticles via orbital coupling for high-efficiency oxygen reduction electrocatalysis

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Nano Research 2025年第1期18卷 129-139页

作者： Jiayi Liu Jingwen Yin Yingzi Lin Mingxin Pang Huan Pang Songtao Zhang Lin Xu Jun Yang Yawen Tang Jiangsu Key Laboratory of New Power Batteries Jiangsu Collaborative Innovation Center of Biomedical Functional MaterialsSchool of Chemistry and Materials ScienceNanjing Normal UniversityNanjing 210023Chin a 2 State Key Laboratory of Multiphase Complex Systems Center of MesoscienceInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225009China Testing Center Yangzhou UniversityYangzhou 225009China

The deliberate engineering of the d-band center of metal site represents an effective strategy to boost the intrinsic electrocatalytic performance toward the oxygen reduction reaction(ORR).Herein,following a heterointerfaceinduced orbital coupling rationale,we report a judicious design of an efficient ORR electrocatalyst consisting of Fe_(3)O_(4)/CeO_(2)hetero-nanoparticles in-situ encased into N-doped carbon nanofibers(abbreviated as Fe_(3)O_(4)/CeO_(2)@N-CNFs hereafter).The theoretic calculations uncover that the Fe_(3)O_(4)/CeO_(2)heterointerface-triggered orbital coupling can cause the down shift of the d-band center positions of Fe sites,which leads to the weakened chemisorption of oxygenated groups and lowered energy barrier for the potential-determining step,ultimately dramatically boosting the ORR intrinsic *** a consequence,the well-designed Fe_(3)O_(4)/CeO_(2)@N-CNFs display admirable ORR activity with a half-wave potential of 0.84 V and outstanding structural/electrochemical stability in an alkaline electrolyte,surpassing the commercial Pt/C benchmark and a majority of recently reported Fe_(3)O_(4)-based *** encouragingly,the Fe_(3)O_(4)/CeO_(2)@N-CNFsincorporated Zn-air battery outperforms the Pt/C-assembled counterpart with higher power density,larger energy density,and excellent cycling stability,serving as a competent candidate for ORR-involved renewable energy *** study offers an innovative approach for the rational manipulation of the d-band center and interfacial electron behavior of active sites toward the optimization of electrocatalytic performance.

关键词： hetero-nanoparticles electrospinning interfacial engineering orbital coupling oxygen reduction reaction

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Promoting effect of d-band center and in-situ precipitation strategy on sulfur evolution reaction

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Journal of Energy Chemistry 2025年第5期104卷 740-748页

作者： Jun Pu Yun Tan Jiasen Yin Zihan Shen Shoujie Liu Kai Zhang Lei Zhou Yagang Yao Key Laboratory of Functional Molecular Solids Ministry of EducationAnhui Provincial Engineering Laboratory for New-Energy Vehicle Battery Energy-Storage MaterialsCollege of Chemistry and Materials ScienceAnhui Normal UniversityWuhu 241002AnhuiChina National Laboratory of Solid State Microstructures College of Engineering and Applied SciencesJiangsu Key Laboratory of Artificial Functional MaterialsCollaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing 210093JiangsuChina State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Materials Science and Engineering Anhui UniversityHefei 230601AnhuiChina School of Energy and Power Engineering Jiangsu UniversityZhenjiang 212013JiangsuChina Department of Electrical Engineering Eindhoven University of TechnologyEindhoven MB 5600the Netherlands

The slow conversion of polyphase in lithium-sulfur(Li-S)batteries not only intensifies the shuttle effect of lithium polysulfides(LiPSs),but also causes the continuous accumulation of inactive sulfur species,resulting in rapid capacity attenuation and sluggish dynamic ***,the promoting effect of atomic interface stress on sulfur reaction was investigated via CoFe-CoFe_(2)O_(4)heterogeneous nanosheets with a cavity *** strain force induced by the in-situ precipitation of Co Fe bimetallic alloy in oxide matrix increased the d-band center,which was conducive to the interaction between catalyst and Li *** sulfur cathode based on this two-dimensional(2D)nanosheet design showed an extremely high capacity of 751 mAh g^(-1)at 4 *** with a sulfur loading of 5.55 mg cm^(-2),its area capacity was still as high as 7.15 mAh cm^(-2).Meanwhile,the enhanced stability greatly improved the practical potential of Li-S batteries.

关键词： 2D nanosheets In-situ precipitation Strain effect D-band center Li-S batteries

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Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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Image-Based Fast Finite-Time Target Tracking Control of Onboard Inertially Stabilized Camera Platform

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IEEE Transactions on Industrial Electronics 2024年第12期71卷 16409-16418页

作者： Sun, Xunhong Zhu, Wenwu Du, Haibo Chen, Weile Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University School of Automation Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

In this article, we investigate the problem of fast finite-time target tracking control of the inertially stabilized platform (ISP) with a camera that mounted on a mobile robot. At first, the kinematics of the onboard ISP target tracking system is established by the geographic coordinate and pinhole camera model, which includes the state-dependent uncertainties and external disturbances. Then, based on the image information captured by camera, a continuous image-based fast finite-time control algorithm is designed for target tracking. Rigorous analysis proves that the target can be tracked at the center of camera's view in finite time in the absence of disturbances. In the presence of disturbances, the tracking error can converge to a region around the origin in finite time. Simulation and experimental comparisons are presented to confirm the efficiency of the proposed method. © 1982-2012 IEEE.

关键词： Mobile robots

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UKF‐MOT:An unscented Kalman filter‐based 3D multi‐object tracker

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CAAI Transactions on Intelligence Technology 2024年第4期9卷 1031-1041页

作者： Meng Liu Jianwei Niu Yu Liu Collective Intelligence&Collaboration Laboratory China North Artificial Intelligence and Innovation Research InstituteBeijingChina China North Vehicle Research Institute BeijingChina State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijingChina State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijingChina School of Computer Science and Engineering Beihang UniversityBeijingChina

Multi‐object tracking in autonomous driving is a non‐linear *** better address the tracking problem,this paper leveraged an unscented Kalman filter to predict the object's *** the association stage,the Mahalanobis distance was employed as an affinity metric,and a Non‐minimum Suppression method was designed for *** the detections fed into the tracker and continuous‘predicting‐matching’steps,the states of each object at different time steps were described as their own continuous *** conducted extensive experiments to evaluate tracking accuracy on three challenging datasets(KITTI,nuScenes and Waymo).The experimental results demon-strated that our method effectively achieved multi‐object tracking with satisfactory ac-curacy and real‐time efficiency.

关键词： autonomous vehicle transportation

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Highly efficient ozone elimination by metal doped ultra-fine Cu_(2)O nanoparticles

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Journal of Environmental Sciences 2023年第12期134卷 108-116页

作者： Anqi Wang Le Zhang Jian Guan Xiaoze Wang Guojun Ma Guijun Fan Hang Wang Ning Han Yunfa Chen State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China Key Laboratory of Science&Technology on Particle Materials Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Metallurgical Engineering Xi’an University of Architecture and TechnologyXi’an 710055China

Nowadays,ozone contamination becomes dominant in air and thus challenges the research and development of cost-effective *** this study,metal doped Cu_(2)O catalysts are synthesized via reduction of Cu^(2+)by ascorbic acid in base solutions containing doping metal *** results show that compared with pure Cu_(2)O,the Mg^(2+)and Fe^(2+)dopants enhance the O_(3)removal efficiency while Ni2+depresses the *** specific,Mg-Cu_(2)O shows high O3removal efficiency of 88.4%in harsh environment of 600,000 mL/(g·hr) space velocity and 1500 ppmV O_(3),which is one of the highest in the *** and electron paramagnetic spectroscopy characterization shows higher concentration of crystal defects induced by the Mg^(2+)dopants,favoring the *** in-situ diffuse reflectance Fourier transform infrared spectroscopy shows the intermediate species in the O_(3)degradation process change from O_(2)^(2-)dominant of pure Cu_(2)O to O_(2)^(-)dominant of Mg-Cu2O,which would contribute to the high *** these results show the promising prospect of the Mg-Cu_(2)O for highly efficiency O_(3)removal.

关键词： Ozone catalyst Cu_(2)O Dopant Ultra-fine nanoparticles

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A Physics-Informed Gaussian Process Regression Algorithm for the Dynamics of the Planar Pendulum 42

A Physics-Informed Gaussian Process Regression Algorithm for...

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42nd Chinese Control Conference, CCC 2023

作者： Li, Tianzhi Wang, Jinzhi College of Engineering Peking University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science Beijing100871 China

ISBN: (纸本)9789887581543

Gaussian process regression has received considerable attention due to its performance in solving the problem of learning and predicting the dynamics of certain systems in the machine learning area. However, this data-driven method ignores the prior physical information. A feasible method to tackle this problem is to embed prior dynamics into the Gaussian process regression. This naturally relies on numerical discretizations of continuous-time differential equations that describe the dynamics. However, conventional discretization schemes do not respect the intrinsic geometric structure of the system, which plays an important role when analyzing the properties of the mechanical system. In this work, we develop a physic-informed Gaussian process regression algorithm based on Hamel's formalism and its variational integrator. Computational properties are illustrated by the numerical experiment of learning and predicting the dynamics of a planar pendulum. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Dynamics

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