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The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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Optimizing Route Efficiency in Formula One (F1) Vehicles Using Reinforcement Learning Algorithms 4

Optimizing Route Efficiency in Formula One (F1) Vehicles Usi...

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4th IEEE International Conference on Artificial Intelligence in Cybersecurity, ICAIC 2025

作者： Narejo, Sanam Khan, Muhammad Taimoor Shaikh, Muhammad Zakir Dhirani, Lubna Luxmi Chowdhery, Bhawani Shankar Mehran Univerity of Engineering and Technology Department of Computer Systems Jamshoro Pakistan Mehran Univerity of Engineering and Technology Jamshoro National Centre for Robotics Automation and Artificial Intelligence Pakistan University of Malaga Mechanical Engineering and Energy Efficiency School of Industrial Engineering Malaga Spain University of Limerick Department of Electronic and Computer Engineering Limerick Ireland

ISBN: (纸本)9798331518882

This research explores the application of reinforcement learning (RL) to enhance route efficiency and performance of a Formula One (F1) car within a simulation environment. The simulation is implemented using Python, NEAT (NeuroEvolution of Augmenting Topologies), and PyGame to create a dynamic system where neural networks control the car's navigation. RL enables the F1 car, acting as an agent, to learn optimal decisions through a fitness-based reward mechanism by interacting with its environment. Equipped with radar sensors to detect obstacles and measure distances, the virtual car adjusts its speed and steering to avoid collisions and optimize movement. Over successive generations, the RL algorithm refines the car's driving ability, improving speed and directional control to maximize distance covered and minimize lap times. A fitness-based evaluation system tracks progress, providing metrics such as best and average fitness scores, which highlight the car's evolving performance. Results demonstrate the effectiveness of RL in enhancing autonomous driving capabilities, enabling the car to navigate complex environments and improve decision-making across generations. © 2025 IEEE.

关键词： Reinforcement learning

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Extinction Chains Reveal Intermediate Phases Between the Safety and Collapse in Mutualistic Ecosystems

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engineering 2024年第12期43卷 89-98页

作者： Guangwei Wang Xueming Liu Ying Xiao Ye Yuan Linqiang Pan Xiaohong Guan Jianxi Gao Hai-Tao Zhang The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Digital Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China Guangdong HUST Industrial Technology Research Institute Huazhong University of Science and TechnologyDongguan 523808China Guangdong Provincial Engineering Technology Center of Autonomous Unmanned Vessels Dongguan 523808China MOE Key Laboratory of Intelligent Networks and Network Security&State Key Laboratory of Manufacturing Systems Xi’an Jiaotong UniversityXi’an 710049China Tsinghua National Laboratory of Information Science and Technology Department of AutomationTsinghua UniversityBeijing 100084China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA

Ecosystems are undergoing unprecedented persistent deterioration due to unsustainable anthropogenic human activities,such as overfishing and deforestation,and the effects of such damage on ecological stability are *** recent advances in experimental and theoretical studies on regime shifts and tipping points,theoretical tools for understanding the extinction chain,which is the sequence of species extinctions resulting from overexploitation,are still lacking,especially for large-scale nonlinear networked *** this study,we developed a mathematical tool to predict regime shifts and extinction chains in ecosystems under multiple exploitation situations and verified it in 26 real-world mutualistic networks of various sizes and *** discovered five phases during the exploitation process:safe,partial extinction,bistable,tristable,and collapse,which enabled the optimal design of restoration strategies for degraded or collapsed *** validated our approach using a 20-year dataset from an eelgrass restoration ***,we also found a specific region in the diagram spanning exploitation rates and competition intensities,where exploiting more species helps increase *** computational tool provides insights into harvesting,fishing,exploitation,or deforestation plans while conserving or restoring the biodiversity of mutualistic ecosystems.

关键词： Complex system Network science Overexploitation Regime shift Metastability

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Problems in Control systems of Electric Drives of Metalworking Machines

Problems in Control Systems of Electric Drives of Metalworki...

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2024 Conference of Young Researchers in Electrical and Electronic engineering, ElCon 2024

作者： Lazovskiy, Nikolay V. Kundyukov, Oleg A. Ershov, Kirill K. St. Petersburg State Electrotechnical University 'LETI' Department of Robotics and Automation of Production Systems Saint Petersburg Russia Petersburg State University of Industrial Technologies and Design Department of Automated Electric Drive and Electrical Engineering Saint Saint Petersburg Russia

The types of errors of machine tools are considered. Methods for increasing the productivity of machine tools and the accuracy of processing workpieces are analyzed. Promising directions for the development of electri... 详细信息

ISBN: (纸本)9798350360646

关键词： automation control systems electric drives metalworking machines

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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Autonomous sortie scheduling for carrier aircraft fleet under towing mode

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Defence Technology(防务技术) 2025年第1期43卷 1-12页

作者： Zhilong Deng Xuanbo Liu Yuqi Dou Xichao Su Haixu Li Lei Wang Xinwei Wang Department of Engineering Mechanics State Key Laboratory of Structural AnalysisOptimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian116024China School of Mathematical Sciences Dalian University of TechnologyDalian 116024China Naval Aviation University Yantai 264001China China State Shipbuilding Corporation Systems Engineering Research Institute Beijing 100094China Department of Automation School of Information Science and TechnologyTsinghua UniversityBeijing 100084China

Safe and efficient sortie scheduling on the confined flight deck is crucial for maintaining high combat effectiveness of the aircraft *** primary difficulty exactly lies in the spatiotemporal coordination,i.e.,allocation of limited supporting resources and collision-avoidance between heterogeneous dispatch *** this paper,the problem is investigated in the perspective of hybrid flow-shop scheduling problem by synthesizing the precedence,space and resource ***,eight processing procedures are abstracted,where tractors,preparing spots,catapults,and launching are virtualized as *** analyzing the constraints in sortie scheduling,a mixed-integer planning model is *** particular,the constraint on preparing spot occupancy is improved to further enhance the sortie *** basic trajectory library for each dispatch entity is generated and a delayed strategy is integrated to address the collision-avoidance *** efficiently solve the formulated HFSP,which is essentially a combinatorial problem with tightly coupled constraints,a chaos-initialized genetic algorithm is *** solution framework is validated by the simulation environment referring to the Fort-class carrier,exhibiting higher sortie efficiency when compared to existing *** animation of the simulation results is available at ***/video/BV14t421A7Tt/.The study presents a promising supporting technique for autonomous flight deck operation in the foreseeable future,and can be easily extended to other supporting scenarios,e.g.,ammunition delivery and aircraft maintenance.

关键词： Carrier aircraft Autonomous sortie scheduling Resource allocation Collision-avoidance Hybrid flow-shop scheduling problem

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Brain-Conditional Multimodal Synthesis: A Survey and Taxonomy

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1080-1099页

作者： Mai, Weijian Zhang, Jian Fang, Pengfei Zhang, Zhijun South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Southeast University School of Computer Science and Engineering Nanjing210096 China South China University of Technology Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering Guangzhou510640 China Institute for Super Robotics Huangpu Guangzhou510555 China Nanchang University Jiangxi Thousand Talents Plan Nanchang330031 China Jishou University College of Computer Science and Engineering Jishou416000 China Guangdong Artificial Intelligence and Digital Economy Laboratory Pazhou Lab Guangzhou510335 China Shaanxi University of Technology Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Hanzhong723001 China Changsha Normal University School of Information Science and Engineering Changsha410100 China Guangdong University of Petrochemical Technology School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Maoming525000 China

In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential reflections of how the brain interprets external information, exhibit a distinctive one-to-many correspondence with various external modalities. This correspondence makes brain signals emerge as a promising guiding condition for multimodal synthesis (e.g., image, text, and audio), which is crucial for developing practical brain–computer interface systems and unraveling complex mechanisms underlying human perception. This survey comprehensively examines the emerging field of brain-conditional multimodal synthesis, termed AIGC-brain, to delineate the current landscape and future directions. To begin, related neuroimaging datasets and generative models are introduced as the foundation of AIGC-brain decoding and analysis. Next, we present a comprehensive taxonomy according to AIGC-brain methodologies, followed by task-specific representative work and implementation details to facilitate in-depth comparison and analysis. Quality assessments are then introduced for both qualitative and quantitative evaluation. Finally, this survey explores insights gained, outlining current challenges and prospects of AIGC-brain. As a pioneering survey, this article paves the way for future advances in AIGC-brain research. © 2020 IEEE.

关键词： Taxonomies

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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