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IEEE International Conference on Networking, Sensing and control

作者： Shichao Chen Qijie Li Hua Zhang Fenghua Zhu Gang Xiong Ying Tang Macau University of Science and Technology The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Macau China Beijing University of Technology The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co. Ltd Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China The Engineering Research Center of Intelligent Systems and Technology Institute of Automation and Cloud Computing Center Chinese Academy of Sciences Beijing China Rowan University Glassboro NJ USA Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (数字)9781728168555

ISBN: (纸本)9781728168562

As the number of devices connected to the Internet of things (IoT) surges, the amount of data explodes. Therefore it not only increases the bandwidth load of data transmission but also aggravates the computing and storage load of a cloud platform. At the same time, the traditional computing paradigm centered on cloud computing cannot meet the real-time requirements in many application scenarios. The emergence of edge computing can solve the problems of realtime data processing and network bandwidth occupation in the current IoT scene. In this paper, according to the characteristics of IoT, such as fragmented data, heterogeneous network, and limited energy consumption, the architecture of an IoT edge computing system is constructed to suit better an IoT scene. In addition, the application of edge computing key technologies such as virtualization, edge intelligence, computing offload, collaborative scheduling and micro-services in resource-constrained IoT scenarios is analyzed in detail. Finally, the functions and application of energy consumption monitoring and optimization to a central air-conditioning system are analyzed and summarized, which is a typical application of edge computing in the context of the IoT.

关键词： Energy consumption Processor scheduling Computer architecture Internet of Things optimization Monitoring Edge computing

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Feature Aggregation Attention Network for Single Image Dehazing

Feature Aggregation Attention Network for Single Image Dehaz...

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IEEE International Conference on Image Processing

作者： Lan Yan Wenbo Zheng Chao Gou Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Software Engineering Xi’an Jiaotong University Xi’an China School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou China

ISBN: (数字)9781728163956

ISBN: (纸本)9781728163963

Due to its ill-posed nature, single image dehazing is a challenging problem. In this paper, we propose an end-to-end feature aggregation attention network (FAAN) for single image dehazing. It incorporates the idea of attention mechanism and residual learning and can adaptively aggregate different level features. In particular, in the proposed FANN, we design a novel block structure consisting of feature attention module, smoothed dilated convolution and local residual learning. The local residual learning allows the less useful information to be bypassed through multiple skip connections. The feature attention module is designed to assign more weight to important features. The smoothed dilated convolution is adopted to enlarge the receptive field without the negative influence of gridding artifacts. The experiments on the RESIDE dataset show that the proposed approach acquires state-of-the-art performance in both qualitative and quantitative measures.

关键词： Convolution Atmospheric modeling Kernel Image color analysis Task analysis Training

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A Collision-Free Person-Following Approach Based on Path Planning

A Collision-Free Person-Following Approach Based on Path Pla...

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IEEE International Conference on Mechatronics and Automation

作者： Lei Pang Zhiqiang Cao Junzhi Yu Weimin Zhang Xuechao Chen State Key Laboratory of Management and Control for Complex Systems Institute of Automation School of Artificial Intelligence University of Chinese Academy of Sciences BIC-ESAT College of Engineering Peking University Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Person following is a crucial capability for mobile robots in tasks of human assistance and cooperation. In this paper, a person-following approach based on path planning is proposed for mobile robots, which takes person following and obstacle avoidance into account in a unified framework. The proposed approach is comprised of a sensing module and a planning module. The sensing module with a camera and a 3D LiDAR is employed to locate the target person and perceive obstacles. For the planning module, the combination of global planner and local planner effectively outputs collision-free paths and control commands for a mobile robot to keep following the target person. Experiments were conducted to evaluate the performance of the proposed approach.

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Parallel Hospital: ACP-Based Hospital Smart Operating System

Parallel Hospital: ACP-Based Hospital Smart Operating System

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Yongjun Wang Fei-Yue Wang Xiao Wang Zhongjun Guan Liwei Ouyang Jiangong Wang Lan Yan Wenbo Zheng Wenwen Zhang Beijing Tiantan Hospital Capital Medical University Beijing Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Software Engineering Xi'an Jiaotong University Xi'an China

This article aims to propose a parallel hospital based on parallel medicine. The parallel hospital takes the parallel idea of virtual and real interaction as its core concept and uses parallel idea's artificial scenarios, computational experiments, and parallel execution (ACP) theory as the guiding theory to construct a new generation of intelligent hospital management system with virtual and real interaction. We conducted a case study of the parallel hospital practice case of Tiantan Hospital-Tiantan Smart Brain, so as to confirm the feasibility and scientificity of the proposed parallel hospital.

关键词： Training Hospitals Operating systems Digital twin Conferences

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Coverage Path Planning Design of Mapping UAVs Based on Particle Swarm optimization Algorithm

Coverage Path Planning Design of Mapping UAVs Based on Parti...

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第三十八届中国控制会议

作者： Shouqi Wang Yongqiang Bai Chao Zhou School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

Mapping UAVs have played a more important role in regional mapping than ever before, and coverage path planning is an important part of mapping tasks. However, there are few studies on single-region path planning in complex polygonal region. In this paper, we proposed a method that searches the optimal yaw-angle and flight height of mapping UAVs based on particle swarm optimization algorithm. Compared with traditional algorithms such as cattle farming algorithm, there are less redundant coverage and turning, and the flight path planned by the algorithm in this paper is more reasonable and convenient for photographic processing.

关键词： mapping UAVs coverage path planning particle swarm optimization

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Parallel Structure of Six Wheel-legged Robot Model Predictive Tracking control based on Dynamic Model

Parallel Structure of Six Wheel-legged Robot Model Predictiv...

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Chinese Automation Congress (CAC)

作者： Bomeng Wang Junzheng Wang Shoukun Wang Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

In the research of wheel-legged robots, trajectory tracking control is the inevitable requirement. In this paper, a trajectory tracking control scheme based on model predictive control for the parallel mechanism of six wheel-legged robot is proposed. A dynamic model was employed to reduce the amount of calculations for planning and control. In the model, the dynamic nonlinear constraints such as the tire slip rate and the roll caused by the lateral acceleration need to be considered. Finally, the control method is verified in the dynamic model. The simulation results show that all dynamic constraints can be maintained within a given interval and the control method has obvious tracking effect improvement.

关键词： Manganese

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nonlocal quark condensate from Dyson-Schwinger Equation and its contributions to the gluon vacuum polarization based on OPE approach

arXiv

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arXiv 2021年

作者： Huang, Jing-Hui Duan, Xue-Ying Huan, Chen Wang, Guang-Jun Hu, Xiang-Yun School of Institute of Geophysics and Geomatics China University of Geosciences Lumo Road 388 Wuhan430074 China School of Automation China University of Geosciences Lumo Road 388 Wuhan430074 China School of Mathematics and Physics China University of Geosiciences Lumo Road 388 Wuhan430074 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

The operator-product expansion(OPE) could be employed to obtain the lowest-order, nonlocal quark scalar condensate component of gluon vacuum polarization. In particular, nonlocal quark scalar condensate can be calculated by solving Dyson-Schwinger Equation(DSE) of QCD. Then, field-theoretic aspects of the gluon vacuum polarization and nonperturbative gluon propagator will be considered in the Landau gauge of the Lorentz gauge fixing. The gluon propagator we obtained is finite in the infrared domain where the single gluon mass mg can be determined. Our results of the ratio mg/ΛQCD the range of that from 1.33 to 1.39 agree with previous determinations for this ratio. Besides, the analytic structure of the gluon propagators from the OPE's result is explored. Our numerical analysis of the gluon' Schwinger function finds clear evidence of the positivity violations in the gluon propagator. In addition, a new method for obtaining the chemical potential dependence of the gluon vacuum polarization and the dressed gluon propagator is developed. © 2021, CC BY.

关键词： Polarization

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Multilane Detection and Tracking Based on Binocular Vision Stixel World Estimation and IPM

Multilane Detection and Tracking Based on Binocular Vision S...

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第三十八届中国控制会议

作者： Jing Li Junzheng Wang Guangtao Cui Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

Road detection is the basic component of many intelligent vehicle systems. In this paper, a robust multi-lane detection method based on binocular vision is proposed. First, a fast estimation technique of the Stixel World, which is the outside environment representation of stereo-vision, is developed. Taking advantage of the estimate for free space under the plane road hypothesis, the proposed method is robust against on-road obstacles when detecting lane markings. Then, the bird-view of the transitable area is obtained through Inverse Perspective Mapping(IPM) Transform;Steerable filter, parallel parabolas modal and RANdom SAmple Consensus(RANSAC) technique are introduced for multi-lane fitting. Experimental results in real urban driving situations indicate that our algorithm is robust under various conditions.

关键词： Multilane detection and tracking Binocular vision Stixel World RANSAC

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An Adaptive Federated control Strategy for Participant Selection in Multi-Client Collaboration

An Adaptive Federated Control Strategy for Participant Selec...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Yizhu Chen Xiaoming Du Xiao Wang Jun Jason Zhang Fei-Yue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Economics and Management University of Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Electrical Engineering and Automation Wuhan University Wuhan China

The federated ecology provides a new paradigm for breaking the isolated data island problem and fully activating the potential of big data and artificial intelligence, especially in multi-client collaboration tasks. Participant selection strategy in multi-client collaboration is the main limitation for increasing the convergence speed and lowing the communication costs. However, in the face of the unbalanced and non-IID data distributions, the performance of federated optimization algorithms will also decrease. To solve the above problems, we propose an adaptive federated control strategy for participant selection in multi-client collaboration based on the Mann-Kendall test, named FedMK. By adaptively selecting weak participants for training rather than random selection, FedMK can speed up model convergence and reduce communication costs. Experiment results show that our method outperforms the baseline method in non-IID scenarios, and the number of communication rounds on CIFAR-10 and synthetic datasets reduced by more than 15% and 10 %,9 respectively.

关键词： Training Adaptation models Costs Biological system modeling Collaboration optimization methods Ecology

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Wearable Human Foot Mechanical Energy Harvesting Device Based on Moving-coil Generator

Wearable Human Foot Mechanical Energy Harvesting Device Base...

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第三十八届中国控制会议

作者： Ning Ding Fang Deng Yeyun Cai Peng Gui Xinyu Fan School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

In order to solve the problem of energy supply for smart wearable devices, this paper proposes a wearable human foot mechanical energy harvesting device based on moving-coil generator, and designs a moving-coil type power generation shoes prototype. Firstly, the human foot horizontal movement is analyzed based on the human gait model. Combined with the characteristics of wearable devices, we determine that mechanical energy harvesting device installed in the heel is the most effective. Secondly, the moving-coil generator is designed and the prototype of moving-coil type power shoes is made. Finally,using the movement test platform of the laboratory, We complete the comfort test and optimize the structure, as well as analyze the basic performance of the device, which has good high-frequency characteristics.

关键词： Wearable energy harvesting Moving-coil generator Mechanical energy Human body

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