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43rd Chinese Control Conference, CCC 2024

作者： Jiang, Yihua Liu, Qi Li, Yanjie the Harbin Institute of Technology Shenzhen Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and Automation 518055 China

ISBN: (纸本)9789887581581

Most traditional recommendation systems (RS) improve the model structure to obtain valid user behavior representation and make better recommendations. However, limited by the scale of the model, the model cannot accommodate an extended range of user historical data and cannot effectively extract long-term preferences. Reinforcement learning (RL) aims to maximize the cumulative return. Introducing RL can smoothly solve the long-term and short-term profit balance. However, there are specific problems with the direct combination of the two. Training RS that relies on offline user data will cause the strategy to suffer from an overestimation of action and distribution shift. Unlike the traditional RL environment, the ample space of the RS will also cause problems of insufficient exploration and sparse rewards, making the policy more difficult to learn. In response to the above issues, this work proposes an offline RL two-stage optimization framework. The framework consists of an offline RL method based on unknown behavior to alleviate the problem of action overestimation and a two-stage feature optimization training method to reduce the impact of large spaces. Experimental results prove that the method proposed in this article can effectively improve the long-term recommendation ability of the model and more effectively improve the model performance than the general offline RL algorithm. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Deep reinforcement learning

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Robot Navigation Strategy in Complex Environment Based on Episode Cognition

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Journal of Bionic engineering 2023年第1期20卷 1-15页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Lining Sun Pengfei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Shenzhen Academy of Aerospace Technology Shenzhen518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou730050China

The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and *** cells can integrate their moment information and external perceptual information and acquire episodic cognitive *** episodic cognition and memory,organisms can achieve autonomous navigation in complex *** paper mainly studies the strategy of robot episode navigation in complex *** exploring the environment,the robot obtains subjective environmental cognition and forms a cognition *** grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced *** synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode *** the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer *** on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering *** paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.

关键词： Bionic intelligent.Grid cell-Hippocampus-Navigation strategy Episode cognition

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Research on 3D Model Retrieval Technology Based on Audio Recognition 1

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13th International Workshop of Advanced Manufacturing and Automation, IWAMA 2023

作者： Zhou, Chuanhong Wu, Junyang Chen, Kunpeng School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (数字)9789819706655

ISBN: (纸本)9789819706648

At present, the number of 3D models in machinery industry is increasing, and the commonly used keyword retrieval methods need a lot of manual labeling work, and many complex 3D models are difficult to describe accurately in words. This paper proposes a 3D model retrieval algorithm based on audio recognition, which can quickly and effectively find 3D models in massive models. This paper takes the 3D model of STL file format as the research object, and its main work is as follows: Firstly, a new rotation normalization algorithm for 3D models is proposed. Then a point density control scheme of STL file based on unit volume is proposed. After that, an audio fingerprint extraction algorithm for 3D model is proposed. Finally,the original speed matching method and the neighborhood matching method are proposed to calculate the similarity between models. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Extraction

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Research on Structural Topology Optimization Based on SIMP-BESO Coupling Algorithm 1

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13th International Workshop of Advanced Manufacturing and Automation, IWAMA 2023

作者： Zhou, Chuanhong Sun, Yi Tan, Youquan School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (数字)9789819706655

ISBN: (纸本)9789819706648

Structure topology optimization technology plays an increasingly important role in mechanical engineering, as it allows high quality structures to be obtained while meeting the demands for lightweight structures. Using topology optimization makes it possible to distribute the material in a given area appropriately to minimize the weight of the structure while meeting the performance requirements. And it reduces the structural design cycle and gives engineers more structural options. This paper takes the SIMP algorithm as the object of study and proposes a SIMP-BESO coupling algorithm for solving the grayscale problem in the algorithm. This algorithm is based on the concept of the termination factor for SIMP, linking the optimization process to the number of iterations. Dynamic movement factor makes the iterative process "fast then slow" to achieve the phenomenon of removing the grayscale elements in structure, and structures with smaller flexibility and larger stiffness can be obtained. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Shape optimization

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A Review of Artificial Intelligence Application on Enhancing Resilience of Closed-loop Supply Chain 29

A Review of Artificial Intelligence Application on Enhancing...

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29th International Conference on engineering, Technology, and Innovation, ICE 2023

作者： Hu, Yang Ghadimi, Pezhman University College Dublin Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering Dublin Ireland

ISBN: (纸本)9798350315172

The purpose of this review is to investigate the landscape of scientific literature in analysing the Artificial Intelligence (AI) technology capabilities for enhancing supply chain resilience both from the forward and reverse side in times of increased risk and uncertainty. This article adopts a systematic literature analysis to extract and analyse the related papers that implemented AI in typical SC functions that can help develop supply chain resilience. It is found that AI technology can be considered as enabling technology for mitigating disruption risk in the closed-loop supply chain due to higher efficiency and accuracy in supplier selection, facility allocation, inventory planning, capacity planning, and demand forecasting, leading to resilience and robustness of a closed-loop supply chain. This review also suggested that a more comprehensive, in-depth, and wide range study from both forward and reverse, especially the reverse side from the reactive, dynamic aspects should be conducted in the future to better reduce supply chain risk more efficiently, effectively, and completely. © 2023 IEEE.

关键词： Risk management

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Towards semi-supervised myoelectric finger motion recognition based on spatial motor units activation

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Science China(Technological Sciences) 2022年第6期65卷 1232-1242页

作者： GUO WeiChao WANG Mian SHENG XinJun ZHU XiangYang State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

It is vital to recognize the intention of finger motions for human-machine interaction(HMI).The latest research focuses on fine myoelectric control through the decoding of neural motor unit action potential trains(MUAPt) from high-density surface electromyographic(sEMG) ***,the existing EMG decoding algorithms rarely obtain the spatial matching relationship between decoded motion units(MU) and designated muscles,and the control interface can only recognize the trained hand *** this study,a semi-supervised HMI based on MU-muscle matching(MMM) is proposed to recognize individual finger motions and even the untrained combined multi-finger *** automatic channel selection from high-density s EMG signals,the optimal spatial positions to monitor the MU activation of finger muscles are *** tapping experiment is carried out on ten subjects,and the experimental results show that the proposed s EMG decomposition algorithm based on MMM can accurately identify single finger motions with an accuracy of 93.1%±1.4%,which is comparable to that of state-of-the-art pattern recognition ***,the MMM allows unsupervised recognizing the untrained combined multi-finger motions with an accuracy of 73%±3.8%.The outcomes of this study benefit the practical applications of HMI,such as controlling prosthetic hand and virtual keyboard.

关键词： myoelectric control semi-supervised motor units activation channel selection template matching

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Flight control of a large-scale flapping-wing flying robotic bird:System development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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Research on Online Palletizing Algorithm Based on Buffer 1

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13th International Workshop of Advanced Manufacturing and Automation, IWAMA 2023

作者： Zhou, Chuanhong Xu, Qinfeng Xu, Yang School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (数字)9789819706655

ISBN: (纸本)9789819706648

Online hybrid palletizing scene can not predict the size of the subsequent goods, easy to make the surface of the stacking type uneven, resulting in the subsequent goods can not be stacked and the stability of the stacking type is reduced, forming a collapse phenomenon. Aiming at the online scene problem in mixed cargo palletizing, this paper proposes an online palletizing algorithm based on buffer by setting buffer, combining the overall search strategy of greedy algorithm and the specific strategy of block construction heuristic algorithm. The effectiveness of the algorithm is verified by the examples of airport baggage stacking. The experimental results show that the algorithm can solve the online palletizing problem. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Heuristic algorithms

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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

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Journal of Bionic engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Strain sensor on a chip for quantifying the magnitudes of tensile stress on cells

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Microsystems & Nanoengineering 2024年第3期10卷 305-315页

作者： Yuyin Zhang Yue Wang Hongze Yin Jiahao Wang Na Liu Songyi Zhong Long Li Quan Zhang Tao Yue School of Mechatronics Engineering and Automation Shanghai UniversityShanghaiChina School of Future Technology Shanghai UniversityShanghaiChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhouChina Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghaiChina Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghaiChina

During cardiac development,mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number,area,and arrangement ***,the response of cells to different degrees of mechanical stimuli is ***-on-a-chip,as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment,is limited by the lack of ability to accurately quantify externally induced ***,previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external ***,we designed a cell stretching platform with an in-situ *** in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on *** platform was applied to human cardiomyocytes(AC16)under cyclic strain(5%,10%,15%,20 and 25%),and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify,and stabilized the cells at 15%amplitude,which was even more effective after 3 days of *** platform’s precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.

关键词： stress deformation arrangement

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