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Chinese automation Congress (CAC)

作者： Haozhe Zhang Liyan Ma Shihui Ying Institute of Artificial Intelligence Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Computer Engineering and Science School of Mechatronic Engineering and Automation Shanghai University Shanghai China Department of Mathematics School of Science Shanghai University Shanghai China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Traditional fully annotated closed set 3D object detection methods improve model performance but are impractical in real-world settings due to the emergence of new categories and the complexity of 3D annotations. Open-World Object Detection (OWOD) addresses these issues but relies heavily on manual labeling, which is costly. This paper focuses on open world active learning and proposes an entropy-guided reinforced open world active 3D object detection (EROA). EROA regards active learning as a reinforcement learning problem tailored for open driving scenarios. We use entropy as a reward metric for efficient reinforcement learning. We also leverage knowledge from the 2D domain using object-level large-scale vision-language models to enhance sample selection. Extensive experiments evidence that the proposed EROA meets the dynamic and cost-sensitive requirements of autonomous driving, enabling real-time detection of both known and unknown objects.

关键词： Measurement Solid modeling Three-dimensional displays Active learning Object detection Reinforcement learning Entropy Real-time systems Labeling Autonomous vehicles

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Constrained Generative Sampling of 6-DoF Grasps

arXiv

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arXiv 2023年

作者： Lundell, Jens Verdoja, Francesco Le, Tran Nguyen Mousavian, Arsalan Fox, Dieter Kyrki, Ville Intelligent Robotics Group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland KTH Royal Institute of Technology Sweden NVIDIA Corporation United States Paul G. Allen School of Computer Science & Engineering University of Washington Seattle United States

Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object’s body while avoiding other locations, such as the cap. This work presents a generative grasp sampling network, VCGS, capable of constrained 6-Degrees of Freedom (DoF) grasp sampling. In addition, we also curate a new dataset designed to train and evaluate methods for constrained grasping. The new dataset, called CONG, consists of over 14 million training samples of synthetically rendered point clouds and grasps at random target areas on 2889 objects. VCGS is benchmarked against GraspNet, a state-of-the-art unconstrained grasp sampler, in simulation and on a real robot. The results demonstrate that VCGS achieves a 10–15% higher grasp success rate than the baseline while being 2–3 times as sample efficient. Supplementary material is available on our project website. Copyright © 2023, The Authors. All rights reserved.

关键词： Bottles

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Stochastic process-based degradation modeling and RUL prediction: from Brownian motion to fractional Brownian motion

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Science China(Information Sciences) 2021年第7期64卷 5-24页

作者： Hanwen ZHANG Maoyin CHEN Jun SHANG Chunjie YANG Youxian SUN School of Automation and Electrical Engineering University of Science and Technology Beijing State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang University Department of Automation Tsinghua University School of Automation and Electrical Engineering Linyi University Department of Electrical and Computer Engineering University of Alberta

Brownian motion(BM) has been widely used for degradation modeling and remaining useful life(RUL) prediction, but it is essentially Markovian. This implies that the future state in a BM-based degradation process relies only on its current state, independent of the past states. However, some practical industrial devices such as Li-ion batteries, ball bearings, turbofans, and blast furnace walls show degradations with long-range dependence(LRD), where the future degradation states depend on both the current and past degradation states. This type of degradation naturally brings two interesting problems, that is, how to model the degradations and how to predict their RULs. Recently, in contrast to the work that uses only BM, fractional Brownian motion(FBM) is introduced to model practical degradations. The most important feature of the FBM-based degradation models is the ability to characterize the non-Markovian degradations with LRD. Although FBM is an extension of BM, it is neither a Markovian process nor a semimartingale. Therefore, how to obtain the first passage time of an FBM-based degradation process has become a challenging task. In this paper, a review of the transition of RUL prediction from BM to FBM is provided. The peculiarities of FBM when addressing the LRD inherent in some practical degradations are discussed. We first review the BM-based degradation models of the past few decades and then give details regarding the evolution of FBM-based research. Interestingly, the existing BM-based models scarcely consider the effect of LRD on the prediction of RULs. Two practical cases illustrate that the newly developed FBMbased models are more generalized and suitable for predicting RULs than the BM-based models, especially for degradations with LRD. Along with the direction of FBM-based RUL prediction, we also introduce some important and interesting problems that require further study.

关键词： remaining useful life degradation model Brownian motion fractional Brownian motion long-range dependence

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Discrete control algorithms for systems with big dead time for control101 MATLAB toolbox

Discrete control algorithms for systems with big dead time f...

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Cybernetics & Informatics (K&I)

作者： Ruth Bars Gyula Max J. Anthony Rossiter László Keviczky Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary School of Electrical and Electronic Engineering University of Sheffield Sheffield UK Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

ISBN: (数字)9798331541811

ISBN: (纸本)9798331541828

The first course of control is under a critical review. Both the teaching material covered and the teaching methods require new considerations. Introducing interactivity in the education process makes the learning more successful and enjoyable. MATLAB provides an effective environment for learning and applying different disciplines. Control101 is a new MATLAB toolbox under development which provides tools for interactive learning of control disciplines. This paper presents the framework for teaching discrete control algorithms applied for processes containing large dead times.

关键词： Visualization Systematics PI control Reviews Education Laboratories Process control Prediction algorithms PD control MATLAB

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Directly wireless communication of human minds via non-invasive brain-computer-metasurface platform

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eLight 2022年第1期2卷 132-142页

作者： Qian Ma Wei Gao Qiang Xiao Lingsong Ding Tianyi Gao Yajun Zhou Xinxin Gao Tao Yan Che Liu Ze Gu Xianghong Kong Qammer HAbbasi Lianlin Li Cheng‑Wei Qiu Yuanqing Li Tie Jun Cui Institute of Electromagnetic Space Southeast UniversityNanjing 210096China School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China State Key Laboratory of Millimeter Wave Southeast UniversityNanjing 210096China Center of Intelligent Metamaterials Pazhou Laboratory Guangzhou 510330China Research Center for Brain-Computer Interface Pazhou LabGuangzhou 510330China Department of Electrical and Computer Engineering National University of SingaporeSingaporeSingapore University of Glasgow James Watt School of EngineeringGlasgow G128QQUK State Key Laboratory of Advanced Optical Communication Systems and Networks Department of ElectronicsPeking UniversityBeijing 100871China

Brain-computer interfaces(BCIs),invasive or non-invasive,have projected unparalleled vision and promise for assisting patients in need to better their interaction with the *** by the BCI-based rehabilitation technologies for nerve-system impairments and amputation,we propose an electromagnetic brain-computer-metasurface(EBCM)paradigm,regulated by human’s cognition by brain signals directly and *** experimentally show that our EBCM platform can translate human’s mind from evoked potentials of P300-based electroencephalography to digital coding information in the electromagnetic domain non-invasively,which can be further processed and transported by an information metasurface in automated and wireless *** wireless communications of the human minds are performed between two EBCM operators with accurate text ***,several other proof-of-concept mind-control schemes are presented using the same EBCM platform,exhibiting flexibly-customized capabilities of information processing and synthesis like visual-beam scanning,wave modulations,and pattern encoding.

关键词： communication computer surface

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

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Journal of Systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

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High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive Control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

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Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

arXiv

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arXiv 2025年

作者： Cao, Muqing Nguyen, Thien-Minh Yuan, Shenghai Anastasiou, Andreas Zacharia, Angelos Papaioannou, Savvas Kolios, Panayiotis Panayiotou, Christos G. Polycarpou, Marios M. Xu, Xinhang Zhang, Mingjie Gao, Fei Zhou, Boyu Chen, Ben M. Xie, Lihua Robotics Institute Carnegie Mellon University United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore KIOS Research Innovation Center of Excellence Department of Electrical and Computer Engineering University of Cyprus Cyprus School of Artificial Intelligence Sun Yat-sen University China Zhejiang University China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task’s complexity and suggest promising directions for future research in cooperative multi-UAV systems. © 2025, CC BY-NC-ND.

关键词： Motion planning

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A Parallel Read-Write Circuit With Fast Amplitude-Adaptive Matching Scheme to Memristor Crossbar Array

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年

作者： Jiang, Ningye Jiang, Mingxuan Huang, Haoen Yang, Le Huang, Yi Zeng, Zhigang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430074 China Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan430205 China University of Massachusetts Amherst Department of Electrical and Computer Engineering AmherstMA01003 United States

Memristor crossbar array (MCA) is a computing-in-memory (CIM) module for computational acceleration. However, conventional read-write (R-W) circuits for MCA rely heavily on external components and have shortcoming in long writing times. To address these issues, we propose a parallel R-W circuit with a fast amplitude-adaptive matching (AAM) scheme. The fast AAM scheme is designed to accelerate time of writing memristors in MCA by adaptively adjusting the writing voltage to match an optimal amplitude. The architecture of parallel R-W circuit are outlined with the implementation of R-W processes. The design principles of parallel R-W unit, fast AAM unit, and associated control logic are described for analyzing their functions within the circuit. By integrating the parallel R-W circuit with MCA, a computing block is leveraged in a neural network for classification tasks. The experimental results demonstrate that the neural network with multiple computing blocks maintains high accuracy across various datasets (over 80%). Furthermore, the proposed AAM scheme achieves an average 54% reduction in writing time compared to that one without AAM scheme. Compared to the pulse-width scheme, the parallel R-W circuit exhibits an average 3.05× speedup in adjusting a 5×5 MCA, and the speedup efficiency is higher as the increases of MCA size. © 2025 IEEE.

关键词： Memristors

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Design and application of a one-stop mobile application sharing platform for steel enterprises

Design and application of a one-stop mobile application shar...

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第42届中国控制会议

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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