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第33届中国控制与决策会议

作者： Jiangbo Zhao Jiaquan Zhang Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Techenology Center of Special Vehicle Manufacture and Evaluation Engineering of Beijing Beijing North Vehicle Group Co.Ltd.

Local path planning algorithm is one of the key technologies for unmanned ground vehicle(UGV).In order to reduce the computational complexity of the local path planning algorithm and ensure the real-time performance of the algorithm,a non-uniform column grid lines modeling method is introduced,and on this basis,a modeling method for planning paths is *** at the path planning problem in a multi-obstacle environment,the evaluation function of the path is constructed from four aspects,and the covariance matrix adaptive evolution strategy(CMA-ES)is used to solve the nonlinear optimization *** order to further reduce the amount of calculation,the CMA-ES algorithm is improved by the dynamic adjustment strategy of population *** results show that the path planning algorithm can effectively realize the local path planning in complex environment.

关键词： Local path planning CMA-ES Unmanned ground vehicle

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A UAV Path Planning Algorithm Based on an Improved D* Lite Algorithm for Forest Firefighting

A UAV Path Planning Algorithm Based on an Improved D* Lite A...

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Chinese Automation Congress (CAC)

作者： Zhaohui Luo Youmin Zhang Lingxia Mu Jing Huang Jing Xin Han Liu Shangbin Jiao Guo Xie Yingmin Yi Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China Concordia University Montreal Canada

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This paper proposes a new type of forest firefighting method. When one or more suspected fire spots are found in the forest, the firefighting Unmanned Aerial Vehicles (UAVs) can safely and quickly reach the desired location, conduct a thorough investigation of the suspected fire spots. If a fire occurs, it is necessary to drop firefighting materials to put out the fire. At the same time, considering the characteristics of limited endurance and low load capability have always limited the applications of UAVs, Unmanned Ground Vehicles (UGVs) are considered in this paper as an additional and comprehensive problem solution to provide energy and supplement materials for UAVs. In order to enable firefighting UAV to plan a safe and effective path in real time in the complex forest environment, a new improved D*Lite algorithm is proposed for UAVs in the mission team. Even when the 3D workspace is partially known or completely unknown, the algorithm can plan an effective path so that the firefighting UAV can move to the fire spots and UGV in real time.

关键词： Path planning Heuristic algorithms Unmanned aerial vehicles Forestry Smoothing methods Real-time systems Planning

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A Novel Sensitization Mechanism of Stress-Electric-Coupled Biosensor Originated in Magnetostrictive Effect

SSRN

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SSRN 2022年

作者： Sang, Shengbo Ge, Yang Ji, Jianglong Yuan, Zhongyun Dong, Xiushan Zhou, Chuangang Xiao, Pengli Tan, Qiuyun Zhao, Dong MicroNano System Research Center Key Lab of Advanced Transducers and Intelligent Control System The Ministry of Education College of Information and Computer Taiyuan University of Technology Taiyuan030024 China School of Electrical Engineering College of Engineering Science Hanyang University Seoul04763 Korea Republic of Shanxi Bethune Hospital Taiyuan030024 China Six-dimensional Artificial Intelligence Biomedical Research Institute Taiyuan030024 China

The stress-electric coupling based on receptor functionalization provides a new paradigm for the development of biosensor. However, the gravity factor of sensitive element usually shows difficult to be avoided due to its suppression to biosensor sensitivity. Herein, a magnetic-sensitization biosensing system with multi-physical field coupling of stress, magnetism and electricity was proposed to highly detect biomolecules. The gravitational interference of sensitive membrane was conquered by doping the TbDyFe with magnetostrictive effect into polydimethylsiloxane (PDMS) and applying magnetic field, showing great contributions to magnetic sensitization. The magnetic sensitization of the biosensor was proved by the collaboration of experiment and simulation. The detections of urine protein and urine sugar associated with kidney disease were realized with limits of detection (LOD) of 0.21 ng/mL and 0.45 nM by using the magnetic-sensitization biosensor. The prepared biosensor exhibited the high specificity, selectivity, stability and repeatability. Especially, the HSA and glucose in real samples can be accurately detect, showing good practicability of the prepared biosensor. This study provides a way to improve the sensitivity of the mechanical biosensor. © 2022, The Authors. All rights reserved.

关键词： Silicones

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On the role of shape features in metaphor generation for abstract images

On the role of shape features in metaphor generation for abs...

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International Symposium on Soft Computing and intelligent systems (SCIS)

作者： Asuka Terai Natsuki Yamamura Junichi Chikazoe Takaaki Yoshimoto Norihiro Sadato Koji Jimura Dept. of Complex and Intelligent Systems Future University Hakodate Hokkaido Japan Research and Development Dept Araya Inc Tokyo Japan Res. Org. of Science and Technology Ritsumeikan University Kyoto Japan Dept. of System Neuroscience National Institute for Physiological Sciences Aichi Japan Dept. of Informatics Gunma University Gunma Japan

In this study, we examined the role of shape features on metaphor generation for abstract images based on a simulation with a retrained convolutional neural network (CNN), which is in turn based on a pretrained CNN model (AlexNet). A computational experiment was conducted using three types of object recognition models, including a pretrained object recognition model (AlexNet) and recognition models that were retrained to recognize more or fewer shape features using edge-detected or blurred images from the ILSVRC-2012 dataset. A psychological experiment was conducted to collect metaphors that were used to explain the abstract images. The simulation results of the models for the abstract images were compared to examine how well they predicted the concepts used in the metaphors generated for the abstract images. The results of the computational experiment suggest that the model retrained to recognize fewer shape features performed best at predicting the generated metaphors. However, for some abstract images, the model retrained to recognize more shape features performed better. These results suggest that the role of shape features on metaphor generation differs depending on the types of abstract images.

关键词： Shape Image color analysis Image edge detection Computational modeling Simulation Psychology Predictive models

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Security of Networked control systems with Incomplete Information Based on Game Theory

Security of Networked Control Systems with Incomplete Inform...

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第三十九届中国控制会议

作者： Lei Gao Jian Sun Jun Li Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center China Industrial Control Systems Cyber Emergency Response Team

The security problem of networked control systems（NCSs） suffering denial of service（DoS） attacks with incomplete information is investigated in this paper. Data transmission among different components in NCSs may be blocked due to DoS attacks. We use the concept of security level to describe the degree of security of different components in an NCS. Intrusion detection system（IDS） is used to monitor the invalid data generated by DoS attacks. At each time slot, the defender considers which component to monitor while the attacker considers which place for invasion. A one–shot game between attacker and defender is built and both the complete information case and the incomplete information case are considered. Furthermore, a repeated game model with updating beliefs is also established based on the Bayes’ rule. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.

关键词： Networked control systems Security DoS attacks Game theory Incomplete information

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Unlocking the Secrets Behind Advanced Artificial Intelligence Language Models in Deidentifying Chinese-English Mixed Clinical Text: Development and Validation Study

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Journal of Medical Internet Research 2024年第1期26卷 e48443页

作者： Lee, You-Qian Chen, Ching-Tai Chen, Chien-Chang Lee, Chung-Hong Chen, Peitsz Wu, Chi-Shin Dai, Hong-Jie Dialogue System Technical Department Asustek Computer Inc Taipei Taiwan Intelligent System Laboratory Department of Electrical Engineering College of Electrical Engineering and Computer Science National Kaohsiung University of Science and Technology Kaohsiung Taiwan Department of Bioinformatics and Medical Engineering Asia University Taichung Taiwan Center for Precision Health Research Asia University Taichung Taiwan Electromagnetic Sensing Control and AI Computing System Laboratory Department of Electrical Engineering College of Electrical Engineering and Computer Science National Kaohsiung University of Science and Technology Kaohsiung Taiwan Knowledge Discovery and Data Mining Lab Department of Electrical Engineering College of Electrical Engineering and Computer Science National Kaohsiung University of Science and Technology Kaohsiung Taiwan Department of Chemical Engineering Feng Chia University Taichung Taiwan National Center for Geriatrics and Welfare Research National Health Research Institutes Zhunan Taiwan National Institute of Cancer Research National Health Research Institutes Tainan Taiwan School of Post-Baccalaureate Medicine College of Medicine Kaohsiung Medical University Kaohsiung Taiwan Center for Big Data Research Kaohsiung Medical University Kaohsiung Taiwan

Background: The widespread use of electronic health records in the clinical and biomedical fields makes the removal of protected health information (PHI) essential to maintain privacy. However, a significant portion of information is recorded in unstructured textual forms, posing a challenge for deidentification. In multilingual countries, medical records could be written in a mixture of more than one language, referred to as code mixing. Most current clinical natural language processing techniques are designed for monolingual text, and there is a need to address the deidentification of code-mixed text. Objective: The aim of this study was to investigate the effectiveness and underlying mechanism of fine-tuned pretrained language models (PLMs) in identifying PHI in the code-mixed context. Additionally, we aimed to evaluate the potential of prompting large language models (LLMs) for recognizing PHI in a zero-shot manner. Methods: We compiled the first clinical code-mixed deidentification data set consisting of text written in Chinese and English. We explored the effectiveness of fine-tuned PLMs for recognizing PHI in code-mixed content, with a focus on whether PLMs exploit naming regularity and mention coverage to achieve superior performance, by probing the developed models’ outputs to examine their decision-making process. Furthermore, we investigated the potential of prompt-based in-context learning of LLMs for recognizing PHI in code-mixed text. Results: The developed methods were evaluated on a code-mixed deidentification corpus of 1700 discharge summaries. We observed that different PHI types had preferences in their occurrences within the different types of language-mixed sentences, and PLMs could effectively recognize PHI by exploiting the learned name regularity. However, the models may exhibit suboptimal results when regularity is weak or mentions contain unknown words that the representations cannot generate well. We also found that the availability of cod

关键词： ChatGPT code mixing deidentification electronic health record large language model pretrained language model

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A strategy of multi-UAV cooperative path planning based on CCPSO

A strategy of multi-UAV cooperative path planning based on C...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Liu, Yuanna Lu, Hao Northwestern Polytechnical University Dept. School of Electronics and Information Xi'an China Intelligent Agent Cooperation Laboratory Dept. Science and Technology on Complex System Control Beijing China

ISBN: (纸本)9781728137926

Multi-UAV cooperative formation flying has significant advantages in broadening the scope of UAV operations and improving combat effectiveness. How to realize the cooperative path planning of multi-UAV is an open issue. In order to solve the search performance degradation as dimension increases, a strategy of multi-UAV cooperative path planning based on Cooperative Coevolution Particle Swarm Optimization (CCPSO) is proposed in this paper. Firstly, the initial Dubins path is generated for each UAV in the formation, of which the longest one is selected as the reference path. Intermediate waypoints are designed to modify the initial paths to avoid collisions with obstacles. Then, CCPSO algorithm is applied to optimize path parameters and adjust the path length to be equal to the reference path to ensure time coordination. Collision avoidance between UAVs is achieved in the collaborative evaluation phase. Finally, an formation rendezvous example and comparison with CCGA are given to explain the validity and excellent search ability of the proposed method. © 2019 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Implementing prescribed-time convergent control: sampling and robustness

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IFAC-PapersOnLine 2023年第2期56卷 1621-1626页

作者： Hernan Haimovich Rodrigo Aldana-Lopez Richard Seeber David Gomez-Gutierrez International French-Argentine Center for Information and Systems Science (CIFASIS) CONICET-UNR Ocampo y Esmeralda 2000 Rosario Argentina University of Zaragoza Departamento de Informatica e Ingenieria de Sistemas (DIIS) Zaragoza Spain Graz University of Technology Institute of Automation and Control Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria Intel Tecnología de México Intel Labs Intelligent Systems Research Lab Jalisco Mexico Tecnológico Nacional de México Instituto Tecnológico José Mario Molina Pasquel y Henríquez Unidad Académica Zapopan Jalisco Mexico

According to recent results, convergence in a prespecified or prescribed finite time can be achieved under extreme model uncertainty if control is applied continuously over time. This paper shows that this extreme amount of uncertainty cannot be tolerated under sampling, not even if sampling could become infinitely frequent as the deadline is approached, unless the sampling strategy were designed according to the growth of the control action. Robustness under model uncertainty is analyzed and the amount of uncertainty that can be tolerated under sampling is quantified in order to formulate the least restrictive prescribed-time control problem that is practically implementable. Some solutions to this problem are given for a scalar system. Moreover, either under a-priori knowledge of bounds for initial conditions, or if the strategy can be selected after the first measurement becomes available, it is shown that the real, practically achievable objectives can also be reached with linear time-invariant control and uniform sampling. These derivations serve to yield insight into the real advantages that implementation of prescribed-time controllers may have.

关键词： Prescribed-time finite-time fixed-time convergence sampling

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Attitude stability control for Multi-Agent Six Wheel-Legged Robot

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IFAC-PapersOnLine 2020年第2期53卷 9636-9641页

作者： Zhihua Chen Shoukun Wang Junzheng Wang Kang Xu Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081.P.R.China Beijing Institute of Technology Beijing CO 100081.P.R.China

Multi wheeled-legged robot systems are MIMO complex systems with multi information fusion. In this paper, a multi-sensor information fusion based wheeled-legged cooperative control strategy is proposed to solve the problem of attitude stability control for the six wheeled-legged robot-BIT-NAZA-II. First, when the robot is wheel motion, the overall attitude of the robot is adjusted by controlling the vertical degree of freedom(DOF) for the Stewart platform. Second, when the wheel movement is on uneven road, the foot end is easy to be suspended or raised. The impedance control method based on the position inner loop is used to solve the problem of leg suspension or raised. Third, in order to ensure the maximum motion space of single leg, the central height controller is designed. Moreover, the control strategy is mainly completed by the central CPU and six bottom CPUs. Six bottom CPUs receive the force information of each leg, and calculate the position of each leg by combining the impedance controller. Meanwhile, the central CPU receives the attitude angle information, calculates the position of each leg by using the attitude controller, takes two different position commands as the input of the central height controller, outputs the calculated position of the central height controller to six bottom CPUs through UPD communication, and the bottom CPU is used to calculate the variation of Stewart platform DOF. Finally, the experimental results of the control strategy in the six wheeled-legged robot system are given, and the feasibility and effectiveness of the control strategy are verified.

关键词： wheeled-legged robot cooperative control attitude stability control CPU controller design

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Privacy-Preserving Brain-Computer Interfaces: A systematic Review

arXiv

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arXiv 2024年

作者： Xia, Kun Duch, Wlodzislaw Sun, Yu Xu, Kedi Fang, Weili Luo, Hanbin Zhang, Yi Sang, Dong Xu, Xiaodong Wang, Fei-Yue Wu, Dongrui The Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Zhejiang Lab Hangzhou311121 China The Department of Informatics School of Physics Astronomy and Informatics Neurocognitive Laboratory Center for Modern Interdisciplinary Technologies Nicolaus Copernicus University Torun Poland The Ministry of Education Key Laboratory for Biomedical Engineering Zhejiang University Hangzhou China The Zhejiang University School of Medicine National Clinical Research Center for Child Health Hangzhou China Department of Biomedical Engineering Zhejiang University Hangzhou China The School of Civil and Hydraulic Engineering Huazhong University of Science and Technology Wuhan430074 China The College of Public Administration Huazhong University of Science and Technology Wuhan430074 China The NetsUnion Clearing Corporation Beijing100045 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100049 China

A brain-computer interface (BCI) establishes a direct communication pathway between the human brain and a computer. It has been widely used in medical diagnosis, rehabilitation, education, entertainment, etc. Most research so far focuses on making BCIs more accurate and reliable, but much less attention has been paid to their privacy. Developing a commercial BCI system usually requires close collaborations among multiple organizations, e.g., hospitals, universities, and/or companies. Input data in BCIs, e.g., electroencephalogram (EEG), contain rich privacy information, and the developed machine learning model is usually proprietary. Data and model transmission among different parties may incur significant privacy threats, and hence privacy protection in BCIs must be considered. Unfortunately, there does not exist any contemporary and comprehensive review on privacy-preserving BCIs. This paper fills this gap, by describing potential privacy threats and protection strategies in BCIs. It also points out several challenges and future research directions in developing privacy-preserving BCIs. © 2024, CC BY.

关键词： Differential privacy

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