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Targets capture by distributed active swarms via bio-inspired reinforcement learning

Science China(Physics,Mechanics & Astronomy) 2025年第1期68卷 206-217页

作者： Kun Xu Yue Li Jun Sun Shuyuan Du Xinpeng Di Yuguang Yang Bo Li Institute of Biomechanics and Medical Engineering Applied Mechanics LaboratoryDepartment of Engineering MechanicsTsinghua UniversityBeijing 100084China Institute of Nuclear and New Energy Technology Tsinghua UniversityBeijing 100084China Shanghai Aerospace Control Technology Institute Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China College of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Natural swarms arranged from cells to herds are usually decentralized but display intriguing collective intelligence in coordinating individuals across large scales to efficiently achieve their common *** from nature may provide new strategies for controlling collective dynamics of synthetic swarms to accomplish specific ***,we present a bioinspired computational framework that steers distributed active swarms to collectively capture and merge targets via reinforcement *** exploit collective milling structures of natural herds to cage the targets,and adopt a switching control policy inspired by sperms’chiral dynamics to optimize the trajectories of individuals,through which the active swarms can selforganize to enclose single or multiple distant targets in a dynamical,adaptive and scalable *** exists a critical swarm size,beyond which the excessive competition between agents would generate large mechanical forces,leading to capture instability but enabling the transition from short-distance to long-distance merging capture of multiple *** work provides physical insights into distributed active swarms and could offer a multilevel,decentralized strategy toward controlling swarm robotics in wide applications such as bio-medical devices,machine immunity,and target clearance.

关键词： swarm intelligence robotics multi-tasks artificial intelligence bionics

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Research on 3D Model Retrieval Technology Based on Audio Fingerprint and Contour View 14th

Research on 3D Model Retrieval Technology Based on Audio Fin...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Lv, Yingshou Zhou, Chuanhong Ma, Chuanqi School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

With the sustained development of CAD technology in the field of mechanical design, the volume of three-dimensional (3D) CAD model data has been growing exponentially. To meet the challenge of rapidly increasing 3D model repositories in the mechanical industry and the demand for efficient retrieval, this paper proposes a 3D model retrieval algorithm based on audio fingerprints and contour views for STL format 3D models. The aim is to provide mechanical designers with an efficient and accurate method of retrieving the required parts from the vast model repository. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： 3D model retrieval Audio fingerprint extraction Contour view Rotational normalization

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Partial Solution Operator Discretization-Based Methods for Efficiently Computing Least-Damped Eigenvalues of Large Time Delayed Power Systems

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CSEE Journal of Power and Energy Systems 2025年第2期11卷 671-682页

作者： Hua Ye Xiaofan Jia Muyang Liu Yutian Liu Sicong Zhang Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of EducationShandong UniversityJinan 250061China School of Electrical Engineering Xinjiang UniversityUrumqi 830046China State Grid Jiangsu Electric Power Research Institute Nanjing 211103China

To investigate impact of time delays on the small signal stability of power systems, the least-damped eigenvalues with the smallest damping ratios have been calculated by eigen-analysis methods based on Solution Operator Discretization (SOD) with Pseudo-Spectral collocation (PS) and Implicit Runge-Kutta (IRK) methods. This paper evolves SOD-PSIIRK into their partial counterparts, i.e., PSOD-PSIIRK, with greatly enhanced efficiency and reliability in analyzing large-scale time delayed power systems. Compared with SOD-PSIIRK, PSOD-PSIIRK are characterized in constructing low order discretization matrices of solution operator as well as efficiently and directly solving the embedded Matrix-Inverse-Vector Products (MIVPs). The dimensions of the discretization matrices of solution operator are largely reduced as only the retarded state variables are discretized, rather than all state variables as in SOD-PSIIRK. Meanwhile, the proposed PSOD-PSIIRK optimize the most computationally expensive operations in SOD-PSIIRK by avoiding the iterative solutions to the two embedded MIVPs. PSOD-PS/IRK directly and efficiently compute the MIVPs via factorizing the Kronecker product-like discretization matrices of the solution operator into Schur complements. The Central China-North China ultra-high-voltage power grid with 80577 state variables serves to validate the proposed PSOD-PSIIRK and shows that compared with SOD-PSIIRK, the computational time consumed by PSOD-PSIIRK is cut down by 49.96 times without loss of any accuracy.

关键词： Eigenvalue analysis low frequency oscillation Schur complement decomposition small signal stability solution operator discretization spectral discretization time delay wide-area measurement system

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Simulation Device of Subway Short-Circuit Current Based on Luenberger Observer 11th

Simulation Device of Subway Short-Circuit Current Based on L...

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11th Frontier Academic Forum of Electrical Engineering, FAFEE 2024

作者： Zou, Jiajin Chen, Peng Wang, Chunjie School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300382 China Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin University of Technology Tianjin300382 China

ISBN: (纸本)9789819788194

With the rapid development of urban subway system in recent years, the failure of subway traction network has become a research hotspot. In order to ensure the reliability of the subway power supply, better study the fault characteristics, provide close to the real subway short circuit current, study the action characteristics of the subway high voltage DC circuit breaker under the fault current, design a simulation device based on phase shift full bridge that can generate the subway short circuit current, by controlling the amplitude, frequency, initial phase angle of the input waveform, so that the corresponding waveform can be generated. And it is verified by experiments. The experimental results show that the output has the characteristics of good dynamic response and small error. Considering that the sensor is affected by the interference noise such as the environment, the Luenberger observer is added to optimize the device control algorithm reasonably. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Short circuit currents

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Offline Palletizing Research Based on Greedy Tabu Search Algorithm 14th

Offline Palletizing Research Based on Greedy Tabu Search Alg...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Zhang, Linjun Zhou, Chuanhong Chen, Yuan School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

This paper implements a greedy tabu search algorithm to deal with the offline palletizing problem, and proposes a two-phase greedy tabu search algorithm. In the first phase, a greedy stochastic adaptive search algorithm is utilized to obtain the local optimal solution of the palletizing problem in the construction process and the local search process, which includes the residual space strategy and the combination of the cargo block strategy, as well as the optimization of the space utilization rate by using the tiling wall strategy. In the second stage, the local optimal solution obtained in the first stage is used as the initial solution, and the tabu search algorithm is used to record the history information of the solution through the tabu table to prevent the algorithm from falling into the local optimal solution, so as to dig deeper into the global optimal solution. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Optimization algorithms

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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Research on 3D Model Classification and Retrieval Based on Graph Convolutional Neural Network 14th

Research on 3D Model Classification and Retrieval Based on G...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Deng, Junqiang Zhou, Chuanhong Chen, Xi School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

With the popularization of CAD technology in the manufacturing industry, the number of 3D models in the industry is rapidly expanding and becoming increasingly complex. These models carry the intelligence of designers and are highly reusable in the product development process. Manufacturing practitioners realize that they can accelerate product development by reusing the structure of previously designed models. Today, many open-source and private model databases have emerged, but efficient and accurate retrieval of 3D models is still an urgent problem. Current mainstream 3D model classification and retrieval algorithms commonly use deep learning techniques, which can usually be subdivided into voxel-based, point cloud-based and view-based methods. However, they all have their own shortcomings. Therefore, in this paper, we propose a 3D model classification and retrieval algorithm based on graph convolutional neural network for feature extraction of STEP files, which improves the efficiency and accuracy of 3D model classification and retrieval. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Convolutional neural networks

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Modeling and Simulation of Mixed Traffic Flow Considering Autonomous Vehicles and the Impact of Trucks 24

Modeling and Simulation of Mixed Traffic Flow Considering Au...

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4th Asia-Pacific Artificial Intelligence and Big Data Forum, AIBDF 2024

作者： Kuang, Xianyan Zhang, Zuliang Jiangxi Province Key Laboratory of Multidimensional Intelligent Perception and Control Jiangxi University of Science and Technology Jiangxi Ganzhou China School of Electrical Engineering and Automation Jiangxi University of Science and Technology Jiangxi Ganzhou China

ISBN: (纸本)9798400710865

Heavy trucks play a crucial role in shaping highway traffic dynamics. Their slower speed and unique acceleration and deceleration patterns can greatly influence the efficiency and stability of mixed traffic streams. This study explores a traffic scenario involving both heavy trucks and Connected and Autonomous Vehicles (CAVs), presenting an innovative model for mixed traffic flow and establishing specific lane-changing protocols for autonomous vehicles. Utilizing numerical simulations and comparative analyses, the research explores how heavy trucks affect traffic speed and lane-changing dynamics across different levels of CAV integration and varying traffic conditions. The findings of the study indicate that with lower rates of CAV penetration, increased traffic flow heightens the frequency of vehicle interactions, resulting in more pronounced variations in traffic speed. Conversely, when CAV penetration rates are elevated, there is a marked improvement in average traffic speed, alongside a significant reduction in speed fluctuations, particularly in high-density traffic situations. © 2024 Copyright held by the owner/author(s).

关键词： Automobiles

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Self-distilled Dual-Network with Pixel Screening Loss for Blind Image Deblurring 27th

Self-distilled Dual-Network with Pixel Screening Loss for ...

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Li, Tianyi Tian, Ming Gao, Changxin Sang, Nong National Key Laboratory of Multispectral Information Intelligent Processing Technology School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9783031781247

In the field of image processing, blind image deblurring aims to restore sharp details in images blurred by an unknown convolution kernel. Recent advancements have shown that deep networks can act as effective image generative priors (DIP) for restoring clear images without requiring external datasets. However, the inherent non-uniqueness of solutions in blind image deblurring often leads DIP-based methods to converge on local optima, resulting in over- or under-deblurred images. To overcome this limitation, we propose a novel deblurring framework featuring dual image generators. These generators mutually constrain each other during training, guiding the model towards the optimal solution. Building on our network structure, we employ a self-ensemble and self-distillation strategy to guide network training, further enhancing performance. Additionally, we introduce a novel loss function based on a pixel screening method, which focuses on the important pixels. This loss enables the network to model the blur kernel more accurately and facilitates the restoration of image details. Our experiments demonstrate that our deblurring approach outperforms most existing methods both qualitatively and quantitatively. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Restoration

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Simulition Study on Fatigue Life of Offshore Floating Photovoltaic DC Cable Across Floating Blocks

Simulition Study on Fatigue Life of Offshore Floating Photov...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Du, Xuehui Wang, Chunjie Chen, Peng Fu, Qiang School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789819618675

In order to solve the fatigue problem of offshore floating photovoltaic direct current(DC) cable between floating blocks under the influence of wave motion, this paper proposes a method to evaluate the fatigue life of DC cable. On the basis of analyzing the fatigue damage mechanism of the DC cable, usingthe service life of the DC cable is accurately predicted by using the stress prediction method with the COMSOL finite element simulation software. By simulating stress conditions under different working conditions, the results show that: The fatigue life of DC cable across floating blocks is negatively correlated with the maximum equivalent stress, and the life decreases with the increase of displacement degree. The dangerous point of cable fatigue is near the fixed point at both ends of the cable. At the same time, the influence of different suspension lengths on the cable fatigue life is analyzed by simulation. The simulation results provide a useful design reference for optimizing cable layout and improving its service life. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Fatigue damage

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