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Parallel Driving with Big Models and Foundation Intelligence in Cyber-hysical-ocial Spaces

Research 2024年第2期2024卷 1-17页

作者： Xiao Wang Jun Huang Yonglin Tian Chen Sun Lie Yang Shanhe Lou Chen Lv Changyin Sun Fei-Yue Wang School of Artificial Intelligence Anhui UniversityHefeiChina Macao University of Science and Technology MacaoChina State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina MVSLab Department of Mechanical and Mechatronics EngineeringUniversity of Waterloo200 University Ave WestWaterlooON N2L3G1Canada School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore

Recent years have witnessed numerous technical breakthroughs in connected and autonomous vehicles (CAVs). On the one hand, these breakthroughs have significantly advanced the development of intelligent transportation systems (ITSs);on the other hand, these new traffic participants introduce more complex and uncertain elements to ITSs from the social space. Digital twins (DTs) provide real-time, data-driven, precise modeling for constructing the digital mapping of physical-world ITSs. Meanwhile, the metaverse integrates emerging technologies such as virtual reality/mixed reality, artificial intelligence, and DTs to model and explore how to realize improved sustainability, increased efficiency, and enhanced safety. More recently, as a leading effort toward general artificial intelligence, the concept of foundation model was proposed and has achieved significant success, showing great potential to lay the cornerstone for diverse artificial intelligence applications across different domains. In this article, we explore the big models embodied foundation intelligence for parallel driving in cyber-physical-social spaces, which integrate metaverse and DTs to construct a parallel training space for CAVs, and present a comprehensive elucidation of the crucial characteristics and operational mechanisms. Beyond providing the infrastructure and foundation intelligence of big models for parallel driving, this article also discusses future trends and potential research directions, and the ?S?goals of parallel driving.

关键词： breakthrough integrate corners

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Finite-time tracking control of heterogeneous multi-AUV systems with partial measurements and intermittent communication

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science China(Information sciences) 2024年第5期67卷 165-182页

作者： Bo CHEN Jiangping HU Bijoy Kumar GHOSH School of Automation Engineering University of Electronic Science and Technology of China Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Yangtze Delta Region Institute (Huzhou) University of Electronic Science and Technology of China Department of Mathematics and Statistics Texas Tech University

The development of a distributed trajectory-tracking control strategy that is independent of velocity measurements is critical to achieving finite-time tracking control of autonomous underwater vehicle(AUV) systems. In this study, a group of heterogeneous AUV systems with intermittent communication links is considered and a finite-time trajectory-tracking control strategy is developed. The strategy includes two observers and one controller proposed for each follower-AUV. The first observer, a hybrid finite-time observer,estimates the state of the leader, whereas the second observer, which relies only on the position measurement,is proposed to estimate the states of the follower-AUV itself. In addition, a distributed trajectory-tracking controller is designed using the states estimated by the intermittent communication network even without velocity measurements. A homogeneous technique is utilized to prove that all followers can track the leader in a finite time. Finally, the effectiveness of the developed finite-time tracking control strategy is illustrated by numerical simulations.

关键词： distributed observer finite-time tracking homogeneous technique intermittent communication multiple heterogeneous AUVs

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Learn-Gen-Plan: Bridging the Gap between Vision Language Models and Real-world Long-horizon Dexterous Manipulations

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IEEE Transactions on Automation science and Engineering 2025年 22卷 15638-15649页

作者： Hao, Peng Cui, Shaowei Wei, Junhang Lu, Tao Cai, Yinghao Wang, Shuo Samsung R&D Institute China-Beijing Beijing100028 China Institute of Automation Beijing100190 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China Chinese Academy of Sciences Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of Automation Beijing100190 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology Shanghai200031 China

Long-horizon dexterous tasks have been a long-standing problem in robotic manipulation. Previous studies have developed task and motion planning, imitation learning, and reinforcement learning methods for long-horizon manipulations. However, these methods are hard to achieve efficient planning for new tasks. Empowered with the Vision Language Model (VLM), recent studies significantly improve the generalization of robot systems. However, these works are only verified in simple pick-and-place tasks due to limited skills. To this end, we propose the Learn-Gen-Plan (LGP), which combines the VLM and learning-based primitives to endow robots with the ability to efficiently plan and complete various long-horizon dexterous tasks. LGP contains two key phases: skill generation and task planning. In skill generation, the Skill Generator is proposed to utilize the learned key primitives and hand-crafted trivial primitives to generate adaptive robot skills. In task planning, the Multimodal Planner generates the robot plan based on image observation, generated skills, and text prompts. We set up a series of dexterous tasks (e.g., cable routing, peg-in-hole assembly) in a real-world lighting circuit wiring scenario to evaluate LGP. The experimental results show that LGP efficiently generates robot plans with learned skills, controlling the robot to complete various multi-step cable wiring tasks. © 2004-2012 IEEE.

关键词： Reinforcement learning

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Visual Pinwheel Centers Act as Geometric Saliency Detectors 38

Visual Pinwheel Centers Act as Geometric Saliency Detectors

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Zhong, Haixin Huang, Mingyi Dai, Wei P. Wang, Haoyu Roe, Anna Wang Yu, Yuguo Research Institute of Intelligent Complex Systems Fudan University China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain Science Fudan University China Institute of Science and Technology for Brain-Inspired Intelligence Fudan University China MOE Frontier Science Center for Brain Science and Brain-machine Integration School of Brain Science and Brain Medicine Key Laboratory of Biomedical Engineering of Ministry of Education College of Biomedical Engineering and Instrument Science Zhejiang University China Shanghai Artificial Intelligence Laboratory China

During natural evolution, the primary visual cortex (V1) of lower mammals typically forms salt-and-pepper organizations, while higher mammals and primates develop pinwheel structures with distinct topological properties. Despite the general belief that V1 neurons primarily serve as edge detectors, the functional advantages of pinwheel structures over salt-and-peppers are not well recognized. To this end, we propose a two-dimensional self-evolving spiking neural network that integrates Hebbian-like plasticity and empirical morphological data. Through extensive exposure to image data, our network evolves from salt-and-peppers to pinwheel structures, with neurons becoming localized bandpass filters responsive to various orientations. This transformation is accompanied by an increase in visual field overlap. Our findings indicate that neurons in pinwheel centers (PCs) respond more effectively to complex spatial textures in natural images, exhibiting quicker responses than those in salt-and-pepper organizations. PCs act as first-order stage processors with heightened sensitivity and reduced latency to intricate contours, while adjacent iso-orientation domains serve as second-order stage processors that refine edge representations for clearer perception. This study presents the first theoretical evidence that pinwheel structures function as crucial detectors of spatial contour saliency in the visual cortex. © 2024 Neural information processing systems foundation. All rights reserved.

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Phase transfer-based high-efficiency recycling of precious metal electrocatalysts

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Green Chemical Engineering 2024年第1期5卷 68-74页

作者： Qing Zeng Shaonan Tian Yu Zhang Hui Liu Dong Chen Xinlong Tian Chaoquan Hu Jun Yang State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing100190China State Key Laboratory of Marine Resource Utilization in South China Sea Hainan Provincial Key Lab of Fine ChemistrySchool of Chemical Engineering and TechnologyHainan UniversityHaikou570228China Nanjing IPE Institute of Green Manufacturing Industry Nanjing211100China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing100049China

Recycling precious metals with high-efficiency is undoubtedly beneficial to optimize resource utilization for environmental remediation and sustainable ***,we report an efficient route to recycle the palladium(Pd)and platinum(Pt)electrocatalysts using a phase transfer *** strategy involves acidic dissolution of deactivated precious metal(Pd/Pt)electrocatalysts from their loading substrates,mixing with an ethanolic solution of dodecylamine(DDA),subsequent extraction of metal ions into a non-polar organic phase,and final reduction by sodium borohydride to reproduce high-performance electrocatalysts towards typical electrochemical reactions,e.g.,oxygen reduction reaction(ORR)and ethanol oxidation reaction(EOR).In specific,the transfer efficiencies are up to 98%and the final recovery rate is over 85%for Pd and Pt electrocatalysts in each *** approach symbolizes a facile and efficient way to recover precious metals,which might be applied to recycling a wide range of metals in various realms after appropriate modifications.

关键词： Precious metal Phase transfer Extraction Recovery Electrocatalyst

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Certifiable Optimal Visual Pose Estimation for Space Applications 4th

Certifiable Optimal Visual Pose Estimation for Space Applic...

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4th International Conference on Artificial Intelligence in China, AIC 2022

作者： Wang, Yue Zhang, Xin Key Laboratory of Electronics and Information Technology for Complex Space Systems National Space Science Center Chinese Academy of Sciences Beijing100190 China Tianjin Key Laboratory of Wireless Mobile Communications and Power Transmission Tianjin Normal University Tianjin300387 China

ISBN: (纸本)9789819912551

Visual pose estimation is essential for many space applications, such as autonomous robots for planetary exploration, asteroid exploration, and spacecraft pose estimation. However, the high reliability requirement of space applications cannot be satisfied by general visual pose estimation algorithms based on heuristic local optimization. This paper briefly introduce certifiable optimal algorithms for the visual pose estimation framework to the aerospace research community, including both visual relative pose estimation problem and pose-graph optimization problem. The original optimization problem is reformulated as a quadratically constrained quadratic program (QCQP) problem, whose Lagrangian dual function is a semidefinite programming (SDP) problem which is convex. simulation results demonstrate the feasibility of certifiable optimal visual pose estimation algorithms based on the zero duality gap for typical application scenarios. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Global optimization

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A Novel Hybrid Transformer-Based Framework for Solar Irradiance Forecasting under Incomplete Data Scenarios

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IEEE Transactions on Industrial Informatics 2024年第6期20卷 8605-8615页

作者： Zhang, Hanjin Li, Bin Su, Shun-Feng Yang, Wankou Xie, Liping Southeast University School of Economics and Management Nanjing210096 China National Taiwan University of Science and Technology Department of Electrical Engineering Taipei106 Taiwan Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518063 China

Accurate prediction of solar irradiance is crucial for the effective utilization of solar energy. However, in real-world scenarios, complex irradiance patterns and prevalent incomplete data pose challenges to precise forecasting, resulting in additional uncertainties and instability. To address these issues, this study proposes a novel irradiance forecasting model that integrates a Mask-Transformer data imputation module and a prediction module centered around the typical patterns representation mechanism. The Mask-Transformer leverages a mask modeling mechanism to model the context of missing data, facilitating accurate estimation of missing values and reducing noise and uncertainty in the input data. The typical patterns representation mechanism comprises a series decomposition module and a feature fusion module, providing the module with the capability to mitigate nonlinearity and nonstationarity in solar irradiance data. This enhancement leads to improved short-term forecasting performance while maintaining long-term forecasting capabilities. Experimental results on two datasets demonstrate that the proposed model exhibits sufficient robustness and accuracy, making it effective in scenarios with incomplete data. © 2005-2012 IEEE.

关键词： Forecasting

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Antenna Position and Power Allocation Design for Shared Aperture Sparse Linear Array 10

Antenna Position and Power Allocation Design for Shared Aper...

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10th International Conference on Control, Automation and Information sciences, ICCAIS 2021

作者： Liu, Ruitao Wei, Wenqiang Yu, Xianxiang Lu, Qinghui Cui, Guolong Fang, Xueli Zhang, Lei University of Electronic Science and Technology of China Chengdu China Key Laboratory of Complex Aeronautical System Simulation Beijing China

ISBN: (纸本)9781665440295

This paper considers the joint design of the antenna position and power allocation in a shared aperture sparse phased array. We introduce a new optimization model relying on the minimization of the Peak Sidelobe Levels (PSL) of beampattern under the antenna position constraints, mainlobe constraints and transmit power constraints. In order to tackle the non-convex problem, we resort to a Modified Membrane Algorithm based on P systems (MMAPS) along with its each iteration executed in parallel. Finally, numerical simulations verify the effectiveness of the proposed algorithm. The results highlight that MMAPS can obtain a better beampattern in terms of the PSL in comparison with the available methods. © 2021 IEEE.

关键词： Iterative methods

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DOA Estimation of Distributed mmWave Radar System via Fast Iterative Adaptive Approach 10

DOA Estimation of Distributed mmWave Radar System via Fast I...

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10th International Conference on Control, Automation and Information sciences, ICCAIS 2021

作者： Wei, Wenqiang Liu, Ruitao Yu, Xianxiang Lu, Qinghui Cui, Guolong Fang, Xueli Zhang, Lei University of Electronic Science and Technology of China Chengdu China Key Laboratory of Complex Aeronautical System Simulation Beijing China

ISBN: (纸本)9781665440295

In this paper, we propose a fast algorithm based on iterative adaptive approach to address the DOA estimation for the distributed mmWave radar system under the challenging conditions of a single snapshot and coherent sources. In order to improve angular resolution, let each transmit sensor emit the same signal in time-sharing to construct a large aperture virtual array. We first roughly derive azimuth angles with one mmWave radar using conventional beamforming. Then, resorting to iterative adaptive approach, we search for the accurate DOA estimations within a very small region based on the estimated azimuth to improve computational efficiency and angular resolution. Finally, numerical simulation results are provided to demonstrate superior performance of the proposed algorithm over some counterparts. © 2021 IEEE.

关键词： Computational efficiency

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Research on Key Technologies of Cross-domain Guidance 8

Research on Key Technologies of Cross-domain Guidance

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8th Symposium on Novel Photoelectronic Detection technology and Applications

作者： Guo, Xiaoyun Wu, Chengfeng Fang, Xueli Xu, Cheng Li, Hui Beijing Institute of Mechanical and Electrical Engineering Beijing China Beijing Institute of Mechanical and Electrical Engineering Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China Beijing Institute of Mechanical and Electrical Engineering Key Laboratory of Complex Aviation Simulation System Beijing China

ISBN: (数字)9781510653122

ISBN: (纸本)9781510653115

Cross-domain synergy and intelligence will become important features of future warfare. Cross-domain guidance is one of the typical forms of cross-domain synergy. It can significantly improve the ability to respond quickly to random targets and time-sensitive targets and enhance the anti-jamming ability in the case of confrontation. This article introduces the concept and winning mechanism of cross-domain guidance, analyzes the research progress of cross-domain guidance at home and abroad, combs the key technologies of cross-domain guidance, summarizes the current challenges and problems in cross-domain guidance research, and proposes development suggestions. © 2022 SPIE

关键词： Optical engineering

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