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Parallel intelligence： toward lifelong and eternal developmental AI and learning in cyber-physical-social spaces

Frontiers of Computer Science 2018年第3期12卷 401-405页

作者： Fei-Yue WANG Jun Jason ZHANG Xiao WANG The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Electrical Engineering Wuhan University Wuhan 430072 China Qingdao Academy of Intelligent Industries Qingdao 266109 China

Dear editor, Fundamentally, there are only two main approaches so far in artificial intelligence （AI）： reasoning-oriented formal logic approach and function-oriented computational intelligence approach, so called Neats vs. Scuruffies, which is a reflection of the historical fight between two schools of thought for formalism and empiricism respectively in the field of AI that is continuing even today.

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Asymptotic backsteppinging stabilization of SISO nonlinear DAE subsystems using artificial neural networks

Asymptotic backsteppinging stabilization of SISO nonlinear D...

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2013 2nd International Conference on Manufacturing engineering and Process, ICMEP 2013

作者： Qiang, Zang Ying, Zhou School of Information and Control Engineering Nanjing University of Information Science and Technology Nanjing 210044 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing 210096 China College of Automation Nanjing University of Posts and Telecommunications Nanjing 210003 China

ISBN: (纸本)9783037857076

The problem of robust stabilization for a class of SISO uncertain nonlinear Differential-Algebraic Eqyatuion subsystems is considered in this paper. The robust stabilization controller is proposed based on backstepping approach using two-layer Artificial Neural Networks (ANN) whose weights are updated on-line. A new adaptive algorithm is proposed to update the weights of ANN such that all signals in the closed-loop systems are bounded and the states are convergent asymptotically to the equilibrium through the proposed controller. © (2013) Trans Tech Publications, Switzerland.

关键词： Backstepping

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Consensus control of second-order stochastic discrete-time multi-agent systems without velocity transmission

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control Theory and Technology 2023年第4期21卷 591-601页

作者： Zi-Xuan Wang Xiaofeng Zong Ling-Jie Gai School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems WuhanHubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhanHubeiChina

This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative ***,a control law based on the absolute velocity and relative position information is ***,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov ***,for the linear second-order multi-agent systems,some explicit consensus conditions are ***,two sets of numerical simulations are performed.

关键词： Consensus control Multiplicative noises Second-order Discrete-time Multi-agent system

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Consensus-based Distributed Augmented Lagrangian Method for Nonconvex Optimization with Coupled Constraints

Consensus-based Distributed Augmented Lagrangian Method for ...

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2022 Chinese Automation Congress, CAC 2022

作者： Su, Yanxu Anhui University School of Artificial Intelligence Hefei230601 China Ministry of Education Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Nanjing210096 China

ISBN: (纸本)9781665465335

In this paper, we study the nonconvex optimization problems with consideration of globally coupled constraints. The constrained optimization problem is converted into an augmented Lagrangian function, and a distributed primal-dual algorithm is exploited in the context of finite-time consensus for solving such a problem. Particularly, we do not require the globally coupled constraints to be separable. Instead, we introduce some local variables for estimating the constraint violations. Under some mild assumptions in the research of nonconvex optimization, we prove the convergence of the presented algorithm to a KKT point of the problem. The numerical experiment verifies the correctness and the effectiveness of the theoretical results. © 2022 IEEE.

关键词： Constrained optimization

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

Global output feedback stabilization for a class of nonlinea...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Wang, Xiangyu Qian, Chunjiang Li, Shihua School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9783902823458

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme. Copyright © 2013 IFAC.

关键词： Growth rate

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Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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Point Cloud Classification Using Content-Based Transformer via Clustering in Feature Space

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 231-239页

作者： Yahui Liu Bin Tian Yisheng Lv Lingxi Li Fei-Yue Wang the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 IEEE the Transportation and Autonomous Systems Institute(TASI)and the Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University Indianapolis(IUPUI)Indianapolis 46202 USA

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention,but ignore their content and fail to establish relationships between distant but relevant points. To overcome the limitation of local spatial attention, we propose a point content-based Transformer architecture, called PointConT for short. It exploits the locality of points in the feature space(content-based), which clusters the sampled points with similar features into the same class and computes the self-attention within each class, thus enabling an effective trade-off between capturing long-range dependencies and computational complexity. We further introduce an inception feature aggregator for point cloud classification, which uses parallel structures to aggregate high-frequency and low-frequency information in each branch separately. Extensive experiments show that our PointConT model achieves a remarkable performance on point cloud shape classification. Especially, our method exhibits 90.3% Top-1 accuracy on the hardest setting of ScanObjectN N. Source code of this paper is available at https://***/yahuiliu99/PointC onT.

关键词： Content-based Transformer deep learning feature aggregator local attention point cloud classification

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A Deep Learning Based Personal Authentication Method Using sEMG Signal 41

A Deep Learning Based Personal Authentication Method Using s...

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第41届中国控制会议

作者： Lina Tong Mingjia Zhang Daisong Liu Hanghang Ma Yuxiang Zhang Liang Peng School of Mechanical Electronic & Information Engineering Chinese University of Mining and Technology-Beijing State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChina Academy of Science

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Personal authentication means that the relevant system confirms whether the identity of the user is real,legal and unique.A safe and convenient personal authentication method is a core for guarantee the security of our information and *** Electromyography(sEMG),which exists on the surface of the skin,is a good signal to achieve personal authentication,for it is difficult to be extracted and *** this paper,a new personal authentication method using forearm sEMG is ***,8-channel sEMG signals are recorded by Myo armband that is placed on right forearm of 14 subjects who perform the same hand open ***,two different deep learning models are presented to classify the *** multi-layers Convolution Neural Network(ML-CNN) and two stages Long Short Term Memory(2 s-LSTM) Network can achieve accuracy of 97.50% and 93.60% respectively,shows it is feasible to achieve the goal of personal *** the time cost of ML-CNN is higher than the 2 s-LSTM,both are lower than human reaction *** the architecture of ML-CNN is more suitable to achieving the goal of personal authentication.

关键词： Personal Authentication Surface Electromyography(sEMG) Myo multi-layers Convolution Neural Network(CNN) LSTM Network

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Review of local mean decomposition and its application in fault diagnosis of rotating machinery

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Journal of systems engineering and Electronics 2019年第4期30卷 799-814页

作者： LI Yongbo SI Shubin LIU Zhiliang LIANG Xihui MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical UniversityXi’an 710072China School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengdu 611731China Department of Mechanical Engineering University of ManitobaWinnipeg R3T 5V6Canada

Rotating machinery is widely used in the *** are vulnerable to many kinds of damages especially for those working under tough and time-varying operation *** detection of these damages is important,otherwise,they may lead to large economic loss even a *** signal processing methods have been developed for fault diagnosis of the rotating *** mean decomposition(LMD)is an adaptive mode decomposition method that can decompose a complicated signal into a series of mono-components,namely product functions(PFs).In recent years,many researchers have adopted LMD in fault detection and diagnosis of rotating *** give a comprehensive review of LMD in fault detection and diagnosis of rotating ***,the LMD is *** advantages,disadvantages and some improved LMD methods are ***,a comprehensive review on applications of LMD in fault diagnosis of the rotating machinery is *** review is divided into four parts:fault diagnosis of gears,fault diagnosis of rotors,fault diagnosis of bearings,and other LMD *** each of these four parts,a review is given to applications applying the LMD,improved LMD,and LMD-based combination methods,*** give a summary of this review and some future potential topics at the end.

关键词： local mean decomposition(LMD) signal processing gear rotor bearing

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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