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IEEE Symposium on Intelligent Vehicle

作者： Xiaoyan Gong Yilin Wu Zifan Ye Xiwei Liu State Key Laboratory of Management and Control for Complex Systems Intelligent Education Institute of Qingdao Academy of Intelligent Industries Qingdao China Beijing NO. 13 School Beijing China NO.2 high school of Beijing Normal University Beijing China

ISBN: (纸本)9781538644539

New intelligent era calls for new learners and thus urgently needs a series of artificial intelligence. As a good educational platform for teaching artificial intelligence, smart cars have aroused concern and practices of all parties. However, at present, most courses and training pay more attention to basic knowledge and technology of smart cars, seldom to training based on artificial intelligence curriculum system and comprehensive competency integrating science, technology, art and management. Therefore, based on concept of iSTREAM (intelligence for Science, Technology, robotics, Engineering, Art, and Management) and Raspberry intelligent vehicle teaching platform, this paper introduced a smart car-themed artificial intelligence courses including basic courses, specialized courses, specialized technical courses and elective courses. This course can guide learners to develop smart cars based on visual cognition, in-depth learning, VR and 3D printing integrated artistic creativity. It combines disciplines such as science, technology, art, games and management to upgrade a single knowledge and technology course into a comprehensive competency course that integrates knowledge, skills, emotion and management. Practice in Beijing NO.13 and NO.101 High School shows that this course allows students to experience scientific research process, learn artificial intelligence related knowledge and skills, understand scientific way of thinking and scientific research methods, stimulate learners' responsibility and scientific passion, and cultivate leadership skills through self-learning and partly project management.

关键词： Automobiles Artificial intelligence Art Hardware Software Project management Intelligent vehicles

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The effect of waist twisting on walking speed of an amphibious salamander like robot

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Acta Mechanica Sinica 2016年第3期32卷 546-550页

作者： Xin-Yan Yin Li-Chao Jia Chen Wang Guang-Ming Xie Intelligent Control Laboratory College of EngineeringPeking University Key State Laboratory for Turbulence & Complex Systems College of Engineering Peking University

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.

关键词： Terrestrial locomotion Step length Waist twisting Walking speed

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Fabrication of micro/nanostructures as SERS substrates with the feed-back controlled normal force 17

Fabrication of micro/nanostructures as SERS substrates with ...

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17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

作者： Zhang, Jingran Yan, Yongda Cai, Jianxiong Miao, Peng State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Harbin150080 China Center for Precision Engineering Harbin Institute of Technology Harbin Heilongjiang150001 China School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin Heilongjiang150001 China

ISBN: (纸本)9780995775107

Different from the conventional scratching method, the normal force is feed-back controlled to mechanically machine the micro grooves in the present study. During the process, the normal force is controlled to a constant value which is similar to the mechanism of the commercial Atomic Force Microscope by which to measure the nanoscale sample topography through controlling the tip-sample interaction force. A simple and low cost micro machining device which can control the normal force is established. With the controlled normal force, the effects of the edge forward and face forward machining directions on the grooves' topography is studied. Moreover, the edge forward scratching direction is more suitable for the controlled normal force scratching process than the face forward scratching direction. Finally, the machined microsquares of aluminum alloy (2A12) surface is used as the Surface-enhanced Raman Scattering (SERS) substrate with the Rhodamine 6G (R6G) probe molecule as the detecting target in the present study. Experimental results show that using this simple low cost device, the perfect microstructures can be achieved by the controlled normal force machining method.

关键词： Microstructure

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Path following for a biomimetic underwater vehicle based on ADRC

Path following for a biomimetic underwater vehicle based on ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Rui Wang Shuo Wang Yu Wang Chong Tang State Key Laboratory of Management and Control for Complex Systems University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

This paper addresses the problem of path following for a biomimetic underwater vehicle (BUV) propelled by undulatory fins with uncertain model and unknown disturbance. The mechanical structure of the BUV is briefly described. Moreover, the general kinematics and dynamics models of the vehicle are presented and the path following problem is formulated. The controller combining line-of-sight (LOS) guidance system with active disturbance rejection control (ADRC) technique is designed to maneuver the BUV to follow a predefined parameterized curve. Specifically, a guidance system based on LOS principle is implemented to decouple the multi-variable system to steer the surge speed and the course respectively. Furthermore, in order to deal with model uncertainty, ADRC is used in development of the surge speed controller and the course controller. Finally, simulations and experimental results validated the performance of the proposed path following control scheme.

关键词： Propulsion Surges Force Underwater vehicles Real-time systems Damping

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Solutions Verification for Cloud-Based networked control System using Karush-Kuhn-Tucker Conditions

Solutions Verification for Cloud-Based Networked Control Sys...

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Chinese Automation Congress

作者： Yasir Ali Zhen Shen Fenghua Zhu Gang Xiong Shichao Chen Yuanqing Xia Fei-Yue Wang The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Cloud Computing Center Chinese Academy of Sciences Dongguan China School of Automation Beijing Institute of Technology China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China

The rapid development of the Cloud Computing Technologies (CCTs) has amended the conventional design of resource-constrained Network control System (NCS) to the powerful and flexible design of Cloud-Based networked control System (CB-NCS) by relocating the processing part to the cloud server. This arrangement has produced many internets based exquisite applications. However, this new arrangement has also raised many network security challenges for the cloud-based control system related to cyber-physical part of the system. In the absence of robust verification methodology, an attacker can launch the modification attack in order to destabilize or take control of NCS. It is desirable that there shall be a solution authentication methodology used to verify whether the incoming solutions are coming from the cloud or not. This paper proposes a methodology used for the verification of the receiving solution to the local control system from the cloud using Karush-Kuhn-Tucker (KKT) conditions, which is then applied to actuator after verification and thus ensure the stability in case of modification attack.

关键词： Cloud-based control system Security of NCS Analysis of solution verification for NCS KKT conditions

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Siamese-ResNet: Implementing Loop Closure Detection based on Siamese Network

Siamese-ResNet: Implementing Loop Closure Detection based on...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Qiu, Kai Ai, Yunfeng Tian, Bin Wang, Bin Cao, Dongpu School of Aritificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China School of Software Engineering University of Science and Technology of China HeFei230026 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

ISBN: (纸本)9781538644522

Deep learning has made significant breakthroughs in the tasks of image classification, detection, segmentation, etc. However, the application of deep learning in robotics is still scarce. SLAM is a fundamental problem in robotics and loop closure detection is an important part of SLAM. This paper attempts to use supervised learning methods to solve the loop closure detection problem in vision SLAM. We proposed Siamese-ResNet network, which combines Siamese network with ResNet to detect loop closure. To show the effectiveness of Siamese-ResNet, we evaluate Siamese-ResNet and FabMap2.0 on several open published datasets, like TUM SLAM dataset and FabMap SLAM dataset. Compared with FabMap2.0, Siamese-ResNet shows higher accuracy, better robustness and shorter time-consuming. © 2018 IEEE.

关键词： robotics

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control of cardiomyocyte contraction for actuation of bio-syncretic robots

Control of cardiomyocyte contraction for actuation of bio-sy...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chuang Zhang Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics China and University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China Department of Industrial & Manufacturing Systems Engineering University of Hong Kong Pokfulam Hong Kong State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

Bio-syncretic robots, consisting of living biological materials and traditional electromechanical systems, have attracted lots of attention due to the potentialities of self-sensing, self-actuation and self-repairing with intrinsic safety and high energy conversion efficiency. However, most of current researches focus on the movement of the devices, and have ignored the study on the control of actuation unit “cells”, which is as important as motors for traditional electromechanical robots. In this work, the effects of cell culturing time, seeding concentration and functional drugs (cytochalasin and adrenalin) on contractile frequency and force strength of cardiomyocytes have been studied using scanning ion conductance microscope (SICM) and arrays of micro-pillars made of PDMS. This work will lay the foundation for the further study of quantitatively control of bio-syncretic robots actuated by cardiomyocytes and is also meaningful for the development of cytology, medicine, and clinical science.

关键词： Robots Force Muscles Actuators Force measurement Automation

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LocNet: Global Localization in 3D Point Clouds for Mobile Vehicles

arXiv

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arXiv 2017年

作者： Yin, Huan Tang, Li Ding, Xiaqing Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China iPlus Robotics Hangzhou China

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation in the global prior map. Specifically, we present a semi-handcrafted representation learning method for LiDAR point clouds using siamese LocNets, which states the place recognition problem to a similarity modeling problem. With the final learned representations by LocNet, a global localization framework with range-only observations is proposed. To demonstrate the performance and effectiveness of our global localization system, KITTI dataset is employed for comparison with other algorithms, and also on our long-time multi-session datasets for evaluation. The result shows that our system can achieve high accuracy. Copyright © 2017, The Authors. All rights reserved.

关键词： Machine learning

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类生命机器人发展与未来挑战

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Engineering 2018年第4期4卷 53-77页

作者：张闯王文学席宁王越超刘连庆 State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong

类生命机器人由活体生物系统与传统机电系统深度有机融合而成,具有高能量效率、高本质安全性、高灵敏度以及可自修复等潜在优点。由于类生命机器人具有单独生命体或者以机电系统为主体的传统机器人系统所不具备的特性,因此对其的研究已... 详细信息

类生命机器人由活体生物系统与传统机电系统深度有机融合而成,具有高能量效率、高本质安全性、高灵敏度以及可自修复等潜在优点。由于类生命机器人具有单独生命体或者以机电系统为主体的传统机器人系统所不具备的特性,因此对其的研究已成为当今的热点,并且在近些年的研究中取得了一定的重要成果。本文系统地总结了类生命机器人的发展。首先,讨论了类生命机器人的潜在发展趋势。然后,回顾了现有类生命机器人的性能,其中包括机器人简单的运动以及运动速度和方向的控制特性。接下来讨论了现有类生命机器人所使用的活体生物材料和非生命材料以及相应的加工制造方法。而后,回顾了现有类生命机器人所采用的控制方法,其中包括物理及化学控制方法。最后,讨论了类生命机器人未来发展中在感知、驱动、智能、活体生物材料、非生命材料、控制方法及信息技术等方面所面临的关键挑战。

关键词：类生命机器人融合机器人生物驱动器心肌细胞肌肉细胞

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An all-solid-state ion-selective electrode for dopamine determination

An all-solid-state ion-selective electrode for dopamine dete...

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IET Doctoral Forum on Biomedical Engineering, Healthcare, robotics and Artificial Intelligence 2018 (BRAIN 2018)

作者： Siyuan Ma Cheng He You Wang Zhiyuan Luo Guang Li State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China School of Information and Electronic Engineering Zhejiang University of Science and Technology Hangzhou China Computer Learning Research Centre Royal Holloway University of London Egham Hill Egham Surrey TW200EX UK

An all-solid-state ion-selective electrode (ISE) was developed for potentiometric detection of dopamine. A gold disk covered by poly(3, 4-ethylenedioxythiophene) doped with poly(styrenesulfonate) (PEDOT/PSS) was used as the work electrode, a polymeric membrane containing β-cyclodextrin as an ionophore and potassium tetrakis(4-chlorophenyl) borate as ionic additive was immobilized on the conduct polymer layer as the dopamine selective membrane. The ISE was sensitive to dopamine linearly from 3×10-5 to 10-1M with a slope of 56.60+1.28mV/decade. And the detection limit was 2.2×10- 5 M. It performed stably in a pH range of 6-8 and a temperature range of 35-41°C. The dynamic response, reproducibility and stability as well as the sensitivity were investigated.

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