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arXiv 2022年

作者： Li, Ding Zhang, Qichao Lu, Shuai Pan, Yifeng Zhao, Dongbin School of Artificial 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 Baidu Inc. Beijing100085 China

Predicting joint future trajectories of two interacting vehicles faces great challenges, due to the high degree of multimodality and uncertainty in the future interaction process. For the traditional joint prediction models, each vehicle is treated as an individual agent, and its multimodal future modes can be learned from an efficient Goal-oriented Trajectory Prediction (GTP) method. However, such marginal methods produce multimodal self-consistent trajectories over individual agents without considering their future interactions. Motivated by this, this paper aims to tackle the interactive behavior prediction task, and proposes a novel Conditional Goal-oriented Trajectory Prediction (CGTP) framework to jointly generate scene-compliant trajectories of two interacting agents. Our CGTP framework is an end-to-end and interpretable model, including three main stages: context encoding, goal interactive prediction and trajectory interactive prediction. First, a Goals-of-Interest Network (GoINet) is designed to extract the interactive features between agent-to-agent and agent-to-goals using a graph-based vectorized representation. Further, the Conditional Goal Prediction Network (CGPNet) focuses on goal interactive prediction via a combined form of marginal and conditional goal predictors. Finally, the Goal-oriented Trajectory Forecasting Network (GTFNet) is proposed to implement trajectory interactive prediction via the conditional goal-oriented predictors, with the predicted future states of the other interacting agent taken as inputs. In addition, a new goal interactive loss is developed to better learn the joint probability distribution over goal candidates between two interacting agents. In the end, the proposed method is conducted on Argoverse motion forecasting dataset, In-house cut-in dataset, and Waymo open motion dataset. The comparative results demonstrate the superior performance of our proposed CGTP model than the mainstream prediction methods. Copyright © 202

关键词： Forecasting

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Novel PIO Algorithm with Multiple Selection Strategies for Many-Objective Optimization Problems

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complex System Modeling and Simulation 2021年第4期1卷 291-307页

作者： Zhihua Cui Lihong Zhao Youqian Zeng Yeqing Ren Wensheng Zhang Xiao-Zhi Gao School of Computer Science and Technology Taiyuan University of Science and TechnologyTaiyuan 030024China School of Cyberspace Security Beijing University of Posts and TelecommunicationsBeijing 100876China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Computing University of Eastern FinlandKuopioFI-70211Finland

With the increase of problem dimensions,most solutions of existing many-objective optimization algorithms are ***,the selection of individuals and the retention of elite individuals are *** algorithms cannot provide sufficient solution precision and guarantee the diversity and convergence of solution sets when solving practical many-objective industrial ***,this work proposes an improved many-objective pigeon-inspired optimization(ImMAPIO)algorithm with multiple selection strategies to solve many-objective optimization *** selection strategies integrating hypervolume,knee point,and vector angles are utilized to increase selection pressure to the true Pareto ***,the accuracy,convergence,and diversity of solutions are *** is applied to the DTLZ and WFG test functions with four to fifteen objectives and compared against NSGA-III,GrEA,MOEA/D,RVEA,and many-objective Pigeon-inspired optimization *** results indicate the superiority of ImMAPIO on these test functions.

关键词： pigeon-inspired optimization algorithm many-objective optimization problem multiple selection strategy elite individual retention

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Speed control of a Biomimetic Robotic Fish Based on Linear Active Disturbance Rejection control

Speed Control of a Biomimetic Robotic Fish Based on Linear A...

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Chinese Automation Congress (CAC)

作者： Yupei Huang Zhengxing Wu Sheng Du The State Key Laboratory of Management and Control for Complex Systems Insititute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426480

This paper proposes a speed control method for a biomimetic robotic fish based on linear active disturbance rejection control. Inspired by a bluefin tuna in nature, a robotic fish with a two-joint propulsive mechanism and a crescent-shaped caudal fin is first designed. Thereafter, for a steady forward swimming speed, a speed control framework based on the linear form of active disturbance rejection control method is proposed, where the oscillation frequency of the caudal fin is adopted to regulate the swimming speed. Meanwhile, a swimming speed estimation approach based on the oscillation period is provided to effectively reduce the phenomenon of swimming speed fluctuation. Finally, both simulation and experiment results illustrate that the proposed method is effective for the speed control of robotic fish.

关键词： Robust control Solid modeling Biomimetics Velocity control Estimation Propulsion Fish

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Parallel control-Based Event-Triggered Optimal control for Constrained Discrete-Time Nonlinear systems

Parallel Control-Based Event-Triggered Optimal Control for C...

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Chinese Automation Congress (CAC)

作者： Jingwei Lu Tianxiang Bai Qinglai Wei Tianmin Zhou Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China

ISBN: (纸本)9781665426480

This study proposes a new event-triggered optimal control (ETOC) method for discrete-time (DT) constrained nonlinear systems. First, a new triggering condition is proposed. We show the asymptotic stability of the closed-loop system using the proposed triggering condition and analyze the degeneration degree of the real performance index. Second, to perform the proposed ETOC method effectively, parallel control (PC) combined with adaptive dynamic programming (ADP) is applied. Finally, the validity of the ETOC method is validated by a simulation.

关键词： Degradation Asymptotic stability Adaptation models Stability criteria Optimal control Performance analysis Trajectory

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Backstepping-Based Parallel control for Cascaded Nonlinear systems

Backstepping-Based Parallel Control for Cascaded Nonlinear S...

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

作者： Jingwei Lu Qinglai Wei Tianmin Zhou Liyuan Han Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China

In this study, a novel nonlinear parallel control method is proposed for cascaded nonlinear systems using the backstepping technique. Unlike the existing state feedback control methods, the control input is taken into the feedback system. First, an augmented system is constructed to facilitate the constructing the Lyapunov function. Then, the backstepping technique can be applied to obtain the nonlinear parallel control law, and the stability analysis is shown using the Lyapunov theory. Finally, a simulation is conducted to demonstrate the effectiveness of the proposed parallel control method.

关键词： State feedback Backstepping Simulation Digital twin Conferences control systems Stability analysis

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Evaluating the Generalization of 3D Detectors with Hybrid Point Clouds

Evaluating the Generalization of 3D Detectors with Hybrid Po...

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Computer Science and management Technology (ICCSMT), International Conference on

作者： Yonglin Tian Xiao Wang University of Science and Technology of China Hefei China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665420648

With the development of LiDAR technologies and deep learning algorithms, tremendous methods have been proposed for 3D detection in intelligent transportation. However, the generalization of 3D detectors under different environments is not fully evaluated due to the lack of diverse testing datasets. Two of the main obstacles in building testing benchmark of point clouds are the huge cost of the annotation of point clouds and the low flexibility in data collection. In this paper, we propose to use hybrid point clouds to evaluate the generalization of multiple 3D detectors when they are transferred from real data to hybrid data. Compared with evaluating 3D detectors with real point clouds dataset, our approach is much more flexible and demands less human labor.

关键词： Point cloud compression Cloud computing Three-dimensional displays Laser radar Costs Pipelines Transportation

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Mechanical Design Paradigm based on ACP Method in Parallel Manufacturing

Mechanical Design Paradigm based on ACP Method in Parallel M...

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

作者： Shimeng Li Yutong Wang Xiao Wang Feiyue Wang 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

Parallel Manufacturing is a new manufacturing paradigm in industry, deeply integrating informalization, automation, and artificial intelligence. In this paper we propose a new mechanical design paradigm in Parallel Manufacturing based on ACP method. The key is to regard the design procedure based on artificial design and emulation method as two independent procedures, which can be modeled as a parallel system. The design procedure based on ACP method does not include a real system, which is an inventive extension of the traditional parallel system. This method can be implemented with social information by introducing the definition of SDV, SDM, and Intelligent Design Manager, making it highly adaptive for social manufacturing and Parallel Manufacturing.

关键词： Industries Adaptation models Automation Digital twin Design methodology Conferences Emulation

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Parallel System-Based Predictive control for Traffic Signals in Large-Scale Road Networks

Parallel System-Based Predictive Control for Traffic Signals...

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International Conference on Intelligent Transportation

作者： Xingyuan Dai Yan Zhang Yiqing Tang Hongrui Chen Jiaming Sun Fei Cong Yanan Lu Yisheng Lv School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China China Telecom Digital City Technology Co. Ltd Xiong'an China School of Information Engineering China University of Geosciences (Beijing) Beijing China

This paper proposes a parallel system-based predictive control (PPC) method to address the problem of active traffic signal control in large-scale urban road networks. The method leverages simulated artificial transportation systems to infer the short-term future operating states of the real transportation system. During the inference process, an efficient predictive learning-based multi-agent reinforcement learning (RL) algorithm is employed to optimize the cooperative control policies. The optimized policies are then deployed to the real transportation system at fixed intervals to adapt to the real-time and dynamic traffic flow. Experimental results demonstrate that PPC outperforms traditional traffic control methods and some multi-agent RL benchmarks in large-scale road network control scenarios with nearly two hundred intersections, showcasing superior generalization capabilities.

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User Experience Evaluation in Virtual Reality based on Subjective Feelings and Physiological Signals

User Experience Evaluation in Virtual Reality based on Subje...

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2020 Engineering Reality of Virtual Reality Conference, ERVR 2020

作者： Niu, Yunfang Wang, Danli Wang, Ziwei Sun, Fan Yue, Kang Zheng, Nan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Computer and Information Technology Liaoning Normal University Dalian China

At present, the research on emotion in the virtual environment is limited to the subjective materials, and there are very few studies based on objective physiological signals. In this article, the authors conducted a user experiment to study the user emotion experience of virtual reality (VR) by comparing subjective feelings and physiological data in VR and two-dimensional display (2D) environments. First, they analyzed the data of self-report questionnaires, including Self-assessment Manikin (SAM), Positive And Negative Affect Schedule (PANAS) and Simulator Sickness Questionnaire (SSQ). The result indicated that VR causes a higher level of arousal than 2D, and easily evokes positive emotions. Both 2D and VR environments are prone to eye fatigue, but VR is more likely to cause symptoms of dizziness and vertigo. Second, they compared the differences of electrocardiogram (ECG), skin temperature (SKT) and electrodermal activity (EDA) signals in two circumstances. Through mathematical analysis, all three signals had significant differences. Participants in the VR environment had a higher degree of excitement, and the mood fluctuations are more frequent and more intense. In addition, the authors used different machine learning models for emotion detection, and compared the accuracies on VR and 2D datasets. The accuracies of all algorithms in the VR environment are higher than that of 2D, which corroborated that the volunteers in the VR environment have more obvious skin electrical signals, and had a stronger sense of immersion. This article effectively compensated for the inadequacies of existing work. The authors first used objective physiological signals for experience evaluation and used different types of subjective materials to make contrast. They hope their study can provide helpful guidance for the engineering reality of virtual reality. c Society for Imaging Science and Technology 2019

关键词： Virtual reality

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Fault Localization and State Estimation of Power Grid under Parallel Cyber-Physical Attacks

arXiv

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arXiv 2025年

作者： Ren, Junhao Zhao, Kai Zhang, Guangxiao Liu, Xinghua Zhai, Chao Xiao, Gaoxi School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Catastrophe Risk Management Nanyang Technological University Singapore639798 Singapore Future Resilient Systems Singapore-ETH Centre Singapore138602 Singapore School of Electrical Engineering Xi’an University of Technology Xi’an710048 China Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Parallel cyber-physical attacks (PCPA) refer to those attacks on power grids by disturbing/cutting off physical transmission lines and meanwhile blocking transmission of measurement data to dwarf or delay the system protection and recovery actions. Such fierce hostile attacks impose critical threats to the modern power grids when there is a fusion of power grids and telecommunication technologies. In this paper, we investigate the fault diagnosis problem of faulty transmission lines under a broader spectrum of PCPA for a linearized (or DC) power flow model. The physical attack mechanism of PCPA includes not only disconnection but also admittance value modification on transmission lines, for example, by invading distributed flexible AC transmission system (D-FACTS). To tackle the problem, we first recover the information of voltage phase angles within the attacked area. Using the information of voltage phase angle and power injection of buses, a graph attention network-based fault localization (GAT-FL) algorithm is proposed to find the locations of the physical attacks. By capitalizing on the feature extraction capability of the GAT on graph data, the fault localization algorithm outperforms the existing results when under cyber attacks, e.g., denial of service (DoS) attacks. A line state identification algorithm is then developed to identify the states of the transmission lines within the attacked area. Specifically, the algorithm restores the power injection of buses within the attacked area and then identities the state of all the transmission lines within the attacked area by solving a linear programming (LP) problem. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Cyber attacks

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