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2024 International Conference on Cyber-Physical Social Intelligence, ICCSI 2024

作者： Yang, Jing Wang, Xingxia Ni, Qinghua Liu, Yuhang Wang, Jing Wang, Fei-Yue Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China Macau University of Science and Technology Faculty of Innovation Engineering 999078 China Macau University of Science and Technology 999078 China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing100190 China

ISBN: (纸本)9798350376739

In recent years, crowdsourcing systems that tackle complex tasks through the collective efforts of many individuals have garnered substantial attention. However, the existing crowd-sourcing systems face some challenges such as overreliance on human experience and effort, information overload, and risks of privacy breaches. To overcome these challenges, this paper proposes an intelligent and trustworthy crowdsourcing frame-work based on blockchain and retrieval-augmented generation. The framework centers around foundational models to integrate the three distinct and sequentially interdependent phases: task decomposition, task allocation or recommendation, and task execution, enabling the automatic provision of a personalized, comfortable, and efficient user experience. Blockchain and smart contracts are utilized to protect user privacy and interests without leaning on any third trusted authority. Additionally, the operational process of the framework is explained and validated by taking printed circuit board design and manufacturing as a case study and ChatGPT as its generator. © 2024 IEEE.

关键词： Embedded systems

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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What makes for uniformity for non-contrastive self-supervised learning?

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Science China(Technological Sciences) 2022年第10期65卷 2399-2408页

作者： WANG YinQuan ZHANG XiaoPeng TIAN Qi Lü JinHu Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Huawei Inc. Shenzhen 518128China School of Automation Science and Electrical Engineering State Key Laboratory of Software Development EnvironmentBeihang UniversityBeijing 100191China

Recent advances in self-supervised learning(SSL) have made remarkable progress, especially for contrastive methods that target pulling two augmented views of one image together and pushing the views of all other images away. In this setting, negative pairs play a key role in avoiding collapsed representation. Recent studies, such as those on bootstrap your own latent(BYOL)and SimSiam, have surprisingly achieved a comparable performance even without contrasting negative samples. However, a basic theoretical issue for SSL arises: how can different SSL methods avoid collapsed representation, and is there a common design principle? In this study, we look deep into current non-contrastive SSL methods and analyze the key factors that avoid *** achieve this goal, we present a new indicator of uniformity metric and study the local dynamics of the indicator to diagnose collapses in different scenarios. Moreover, we present some principles for choosing a good predictor, such that we can explicitly control the optimization process. Our theoretical analysis result is validated on some widely used benchmarks spanning differentscale datasets. We also compare recent SSL methods and analyze their commonalities in avoiding collapses and some ideas for future algorithm designs.

关键词： contrastive learning self-supervised learning representation uniformity dynamics

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Optimal Observation Geometry Analysis for Multi-sensor System in 3D Case

Optimal Observation Geometry Analysis for Multi-sensor Syste...

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International Conference on Guidance, Navigation and Control, ICGNC 2020

作者： Qian, Jiachen Duan, Peihu Duan, Zhisheng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811581540

This paper mainly focuses on the 3D optimal deployment problem for multiple vehicles using range-only sensors. The relative sensor-target geometry can have a great effect on the performance of target localization, and the Fisher information matrix (FIM, the inverse of Cramer–Rao lower bound) is usually used to evaluate the quality of observation. The determinant of Fisher information matrix (FIM) for multiple 3D range-only sensors is derived based on the relative azimuth angles and elevation angles between target and sensors, which is different from the previous literature. Next, a sufficient condition for optimal deployment geometry of multiple homogeneous range-only sensors to maximize the det(FIM) is derived. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fisher information matrix

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A Web-like Three-dimensional Binder for Silicon Anode in Lithium-ion Batteries

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Energy & Environmental Materials 2024年第1期7卷 21-27页

作者： Liyuan Li Tao Li Yifan Sha Baozeng Ren Lan Zhang Suojiang Zhang CAS Key Laboratory of Green Process and Engineering Beijing Key Laboratory of Ionic Liquids Clean ProcessState Key Laboratory of Multiphase Complex SystemsInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China School of Chemical Engineering Zhengzhou UniversityZhengzhou 450001China Langfang Green Industrial Technology Center Langfang 065001China Henan Key Laboratory of Energy Storage Materials and Processes Zhengzhou Institute of Emerging Industrial TechnologyZhengzhou 450003China

Si anode is of paramount importance for advanced energy-dense lithium-ion batteries(LIBs).However,the large volume change as well as stress generates during its lithiation-delithiation process poses a great challenge to the long-term cycling and hindering its *** this work,a composite binder is prepared with a soft component,guar gum(GG),and a rigid linear polymer,anionic polyacrylamide(APAM).Rich hydroxy,carboxyl,and amide groups on the polymer chains not only enable intermolecular crosslinking to form a web-like binder,A2G1,but also realize strong chemical binding as well as physical encapsulating to Si *** resultant electrode shows limited thickness change of merely 9%on lithiation and almost recovers its original thickness on *** demonstrates high reversible capacity of 2104.3 mAh g^(-1)after 100 cycles at a current density of 1800 mA g^(-1),and in constant capacity(1000 mAh g^(-1))test,it also shows a long life of 392 ***,this soft-hard combining web-like binder illustrates its great potential in the future applications.

关键词： anionic polyacrylamide lithium-ion batteries Si anode thickness change web-like binder

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On the properties of kullback-leibler divergence between multivariate Gaussian distributions 23

On the properties of kullback-leibler divergence between mul...

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Proceedings of the 37th International Conference on Neural Information Processing systems

作者： Yufeng Zhang Jialu Pan Kenli Li Wanwei Liu Zhenbang Chen Xinwang Liu Ji Wang College of Computer Science and Electronic Engineering Hunan University Changsha China College of Computer Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China College of Computer State Key Laboratory for High Performance Computing Key laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China

Kullback-Leibler (KL) divergence is one of the most important measures to calculate the difference between probability distributions. In this paper, we theoretically study several properties of KL divergence between multivariate Gaussian distributions. Firstly, for any two n-dimensional Gaussian distributions Ɲ1 and Ɲ2, we prove that when KL(Ɲ2‖Ɲ1) ≤ ε (ε > 0) the supremum of KL (Ɲ1‖Ɲ2) is (1/2) ((-W0 (-e-(1+2ε)))-1 + log(-W0 (-e-(1+2ε))) - 1), where W0 is the principal branch of Lambert W function. For small ε, the supremum is ε + 2ε1.5 + O (ε2). This quantifies the approximate symmetry of small KL divergence between Gaussian distributions. We further derive the infimum of KL(Ɲ1‖Ɲ2) when KL(Ɲ2‖Ɲ1) ≥ M (M > 0). We give the conditions when the supremum and infimum can be attained. Secondly, for any three n-dimensional Gaussian distributions Ɲ1, Ɲ2, and Ɲ3, we theoretically show that an upper bound of KL (Ɲ1‖Ɲ3) is 3ε1 + 3ε2 + 2√ε1ε2 + o(ε1)+ o(ε2) when KL (Ɲ1‖Ɲ2) ≤ ε1 and KL(Ɲ2‖Ɲ3) ≤ ε2 (ε1, ε2 ≥ 0). This reveals that KL divergence between Gaussian distributions follows a relaxed triangle inequality. Note that, all these bounds in the theorems presented in this work are independent of the dimension n. Finally, we discuss several applications of our theories in deep learning, reinforcement learning, and sample complexity research.

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Oscillation Trajectory Optimization and Control Method for Two-Link Underactuated Manipulators 42

Oscillation Trajectory Optimization and Control Method for T...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Lejun Wang, Huiming Tang, Xianlun Huang, Zixin Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China

ISBN: (纸本)9789887581543

This paper provides an oscillation trajectory optimization and control method for two-link underactuated manipulators (UMs) in a vertical plane. The proposed method solves the problem that the UMs cannot always enter the balance region in the partitioning method. First, we establish the system dynamic model, and analyze the system couple characteristics. Then, we program an oscillation trajectory for the active link, and use the intelligent method to obtain the trajectory parameters, so ensuring the system can reach the area adjacent to the target position through tracking control. Next, we design the controller to realize the stable control at the target position. Finally, the simulation results show the effectiveness and generality of the control strategy. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Trajectories

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Synthesis ofγ-MnS/nanoporous carbon/reduced graphene oxide composites for high-performance supercapacitor

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Carbon Resources Conversion 2022年第3期5卷 222-230页

作者： Abiola Ganiyat Olatoye Jie Zhang Qianyu Wang Erping Cao Wenli Li Emmanuel Oluwaseyi Fagbohun Yanbin Cui 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

In the present work,nanoporous carbon(NPC)was prepared from a metal-organic framework(zeolite imidazolate framework 8,ZIF-8).Different concentrations of graphene oxide(GO)were used to make NPC/reduced graphene oxide(NPC/rGO-x,x=0.5,1.0,1.5,and 2.0)composites,and thenγ-MnS/NPC/rGO-1 composite was synthesized via a simple hydrothermal *** electrochemical characteristics of porous carbon composites(NPC/rGO-x)andγ-MnS/NPC/rGO-1 electrodes were investigated by galvanostatic charge and discharge,cyclic voltammetry,and electrochemical impedance ***/rGO-1 showed the highest specific capacitance of 207 F/g at 0.5 A/***,theγ-MnS/NPC/rGO-1 electrode demonstrates exceptional electrochemical performance with a high specific capacitance of 300 F/g at 0.5 A/g and impressive cyclic stability of 70%capacitance retention after 10,000 cycles at 1 A/*** a result,this study demonstrates thatγ-MnS/NPC/rGO-1 electrode can be considered a promising candidate for high-performance supercapacitors.

关键词： Metal-organic framework Nanoporous carbon Reduced graphene oxide γ-MnS Supercapacitor

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Networked Knowledge and complex Networks:An engineering View

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IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1366-1383页

作者： Jinhu Lü Guanghui Wen Ruqian Lu Yong Wang Songmao Zhang School of Automation Science and Electrical Engineering State Key Laboratory of Software Development EnvironmentBeihang UniversityBeijing 100083 Academy of Mathematics and Systems Science Chinese Academy of SciencesBeijing 100190China Department of Systems Science School of MathematicsSoutheast UniversityNanjing 211189China

Along with the development of information technologies such as mobile Internet,information acquisition technology,cloud computing and big data technology,the traditional knowledge engineering and knowledge-based software engineering have undergone fundamental changes where the network plays an increasingly important *** this context,it is required to develop new methodologies as well as technical tools for network-based knowledge representation,knowledge services and knowledge ***,the term“network”has different meanings in different ***,some breakthroughs in several bottleneck problems of complex networks promote the developments of the new methodologies and technical tools for network-based knowledge representation,knowledge services and knowledge *** paper first reviews some recent advances on complex networks,and then,in conjunction with knowledge graph,proposes a framework of networked knowledge which models knowledge and its relationships with the perspective of complex *** the unique advantages of deep learning in acquiring and processing knowledge,this paper reviews its development and emphasizes the role that it played in the development of knowledge ***,some challenges and further trends are discussed.

关键词： complex network knowledge graph networked knowledge neural network

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Missing Small Bolt Detection on High-speed Train Using Improved Yolov5 8

Missing Small Bolt Detection on High-speed Train Using Impro...

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8th International Conference on systems and Informatics, ICSAI 2022

作者： Wei, Yiming Lu, Xiaobo Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665474481

Tiny bolts are widely used on high-speed trains, playing an important role in fixing train components. However, because of the complex running environment of trains, missing bolts occur from time to time and may cause traffic accidents, resulting in property damage and, in serious cases, endangering the lives of the occupants. Therefore, it is essential to detect missing bolts on high-speed trains. The bolts discussed in this paper are generally located on the underside of high-speed trains and their small size makes detection more difficult. In this paper, we first expand the dataset, and then add the Attention module and Transformer based on YOLOv5, and change the FPN of YOLOv5 to BiFPN, fuse the features of different layers using different weights, and crop the high-resolution original image during training and testing, and finally return to the original image. Our method eventually achieves 95.3% AP, effectively improving the detection accuracy. © 2022 IEEE.

关键词： Statistical tests

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