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A Novel Agricultural Data Sharing Mode Based on Rice Disease Identification

Plant Diseases and Pests 2024年第2期15卷 9-16页

作者： Mengmeng ZHANG Xiujuan WANG Mengzhen KANG Jing HUA Haoyu WANG Feiyue WANG State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of AutomationChinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China State Key Laboratory for Management and Control of Complex System Institute of AutomationChinese Academy of SciencesBeijing 100190China

In this paper,a variety of classical convolutional neural networks are trained on two different datasets using transfer learning *** demonstrated that the training dataset has a significant impact on the training results,in addition to the optimization achieved through the model ***,the lack of open-source agricultural data,combined with the absence of a comprehensive open-source data sharing platform,remains a substantial *** issue is closely related to the difficulty and high cost of obtaining high-quality agricultural data,the low level of education of most employees,underdeveloped distributed training systems and unsecured data *** address these challenges,this paper proposes a novel idea of constructing an agricultural data sharing platform based on a federated learning(FL)framework,aiming to overcome the deficiency of high-quality data in agricultural field training.

关键词： Rice disease and pest identification Convolutional neural networks Distributed training Federated learning(FL) Open-source data sharing platform

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Autonomous Mobile Robot Navigation using Adaptive Neuro Fuzzy Inference System

Autonomous Mobile Robot Navigation using Adaptive Neuro Fuzz...

引用

2022 International Conference on Innovations and Development of Information Technologies and Robotics, IDITR 2022

作者： Haider, Muhammad Husnain Ali, Hub Khan, Abdullah Aman Zheng, Hao Bhutta, M. Usman Maqbool Usman, Shaban Zhi, Pengpeng Wang, Zhonglai University of Electronic Science and Technology of China Chengdu China Yangtze Delta Region Institute Huzhou China Casia State Key Laboratory for Management & Control of Complex Systems Beijing China Sichuan Artificial Intelligence Research Institute Yibin China The Chinese University of Hong Kong Robotics Lab Mae Hong Kong

ISBN: (纸本)9781665409322

Navigation of autonomous robots in unknown and cluttered environments lies among the marked trends in robotics. Unlike animals and humans, the collision-free movement of a robot is challenging and requires processing complex information. An autonomous robot needs to cope with a large amount of uncertainty while navigating. The previous methods have limitations, such as lacking obstacle avoidance behaviour, having a large number of governing rules, designing a separate controller for each navigation and obstacle avoidance, not considering the robot's dynamics, computationally expensive training, and poor performance in a cluttered environment. This paper proposes a method that comprises a single adaptive neuro fuzzy inference system (ANFIS) based controller with 16 rules compared to hundred of rules used by previous methods to address such problems. Our method takes heading angle along with distance sensors data as input. AU the inputs are fuzzified into linguistic variables such as near-far and left-right. Additionally, a fuzzy inference system (FIS) is designed and trained using the generated dataset for optimum performance of ANFIS. The proposed method efficiently provides collision-free navigation of the mobile robot in densely cluttered environments. Comprehensive experiments are performed to prove the robustness and potency of the proposed ANFIS controller. Moreover, the performance of the proposed method is compared with various previous methods. The results of these comparisons indicate our proposed method's superiority in finding a near-optimal path. © 2022 IEEE.

关键词： Navigation

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Parallel Control for Optimal Tracking via Adaptive Dynamic Programming

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IEEE/CAA Journal of Automatica Sinica 2020年第6期7卷 1662-1674页

作者： Jingwei Lu Qinglai Wei Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078 Qingdao Academy of Intelligent Industries Qingdao 266109China

This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear *** existing optimal state feedback control,the control input of the optimal parallel control is introduced into the feedback ***,due to the introduction of control input into the feedback system,the optimal state feedback control methods can not be applied *** address this problem,an augmented system and an augmented performance index function are proposed ***,the general nonlinear system is transformed into an affine nonlinear *** difference between the optimal parallel control and the optimal state feedback control is analyzed *** is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index ***,an adaptive dynamic programming(ADP)technique is utilized to implement the optimal parallel tracking control using a critic neural network(NN)to approximate the value function *** stability analysis of the closed-loop system is performed using the Lyapunov theory,and the tracking error and NN weights errors are uniformly ultimately bounded(UUB).Also,the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference ***,the effectiveness of the developed optimal parallel control method is verified in two cases.

关键词： Adaptive dynamic programming(ADP) nonlinear optimal control parallel controller parallel control theory parallel system tracking control neural network(NN)

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Mechanical,corrosion and magnetic behavior of a CoFeMn_(1.2)NiGa_(0.8) high entropy alloy

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Journal of Materials science & technology 2021年第14期73卷 139-144页

作者： Xiaoming Sun Lingzhong Du Hao Lan Jingyi Cui Liang Wang Runguang Li Zhiang Liu Junpeng Liu Weigang Zhang State Key Laboratory of Multiphase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing100190China Innovation Academy for Green Manufacture Chinese Academy of SciencesBeijing100190China School of Materials Science and Engineering Beijing Institute of TechnologyBeijing100081China X-ray Science Division Argonne National LaboratoryArgonneIllinois60439USA Experimental Teaching and Equipment Management Center Qufu Normal UniversityShandong273165China State Key Laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of SciencesBeijing100190China

In this study,a magnetic high entropy alloy(HEA)of CoFeMn_(1.2)NiGa_(0.8)was designed and prepared by arc melting in order to investigate its mechanical,corrosion and magnetic *** results show that the alloy mainly possesses body-centered cubic(BCC)phase and face-centered cubic(FCC)phase.A high compressive strength of 1450 MPa,a strain of 18.5%and a relatively low yield strength of 303MPa in as-cast condition at room temperature can be achieved in the present ***-situ high-energy X-ray diffraction technique was employed to reveal the deformation mechanism of Co Fe Mn_(1.2)Ni Ga_(0.8)under uniaxial compression and the results show that the competition between BCC phase and FCC phase plays a significant role during the compressive *** corrosion behavior of Co Fe Mn_(1.2)Ni Ga_(0.8)was investigated in 3.5 wt%Na Cl solution and it turned out that the alloy possessed good corrosion *** last,the magnetic behavior of the Co Fe Mn_(1.2)Ni Ga_(0.8)alloy was studied and it can present a high saturation magnetization of 94.5 emu/g and a coercivity of 26.4 Oe at 4 *** work indicates that the present Co Fe Mn_(1.2)Ni Ga_(0.8)HEA has promising applications as future magnetic functional materials.

关键词： High entropy alloys High-energy X-ray diffraction Compressive property Corrosion resistance Magnetic behavior

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Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin Institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

关键词：

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Accurate Identification and Localization of Transmission Lines under complex Lighting for Distribution Network Power Supply Operation Robots

Accurate Identification and Localization of Transmission Lin...

引用

2024 China Automation Congress, CAC 2024

作者： Liu, Tianhe Chen, Xin Hu, Chenyu Jian, Xu Li, Shengzu Wang, Gang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Distribution Department State Grid Hubei Electric Power Co. Ltd. Wuhan Power Supply Company 430070 China

ISBN: (纸本)9798350368604

Accurate identification and position of transmission lines is critical for robots to safely and effectively perform distribution network operations. However, such tasks are often challenged by complex lighting conditions, where depth information can be easily lost. Transmission lines have limited texture features and reflective surfaces, making it difficult to match image feature points. To address these challenges, this paper proposes a visual perception system for weak texture targets under complex lighting, based on an "eye-on-hand" configuration and a depth complementation algorithm. Furthermore, a high-precision identification and localization method for transmission line grasping points is developed, utilizing the fusion of binocular visual color maps and depth maps. The proposed method has been shown to effectively solve the problem of identifying and localizing the grasping points of transmission lines under complex lighting conditions. Experiments demonstrated that the method can improve the localization accuracy to within ±4mm, outperforming other algorithms. The method is characterized as simple and efficient, and it enhances the environmental adaptability of distribution network robots. © 2024 IEEE.

关键词： Binocular vision

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Observation of Periodic systems: Bridge Centralized Kalman Filtering and Consensus-Based Distributed Filtering

arXiv

引用

arXiv 2023年

作者： Qian, Jiachen Duan, Zhisheng Duan, Peihu Li, Zhongkui State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China Department of Electronic and Computer Engineering the Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

Compared with linear time invariant systems, linear periodic system can describe the periodic processes arising from nature and engineering more precisely. However, the time-varying system parameters increase the difficulty of the research on periodic system, such as stabilization and observation. This paper aims to consider the observation problem of periodic systems by bridging two fundamental filtering algorithms for periodic systems with a sensor network: consensus-on-measurement-based distributed filtering (CMDF) and centralized Kalman filtering (CKF). Firstly, one mild convergence condition based on uniformly collective observability is established for CMDF, under which the filtering performance of CMDF can be formulated as a symmetric periodic positive semidefinite (SPPS) solution to a discrete-time periodic Lyapunov equation. Then, the closed form of the performance gap between CMDF and CKF is presented in terms of the information fusion steps and the consensus weights of the network. Moreover, it is pointed out that the estimation error covariance of CMDF exponentially converges to the centralized one with the fusion steps tending to infinity. Altogether, these new results establish a concise and specific relationship between distributed and centralized filterings, and formulate the trade-off between the communication cost and distributed filtering performance on periodic systems. Finally, the theoretical results are verified with numerical experiments. Copyright © 2023, The Authors. All rights reserved.

关键词： Time varying control systems

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A Facile Li_(2)TiO_(3) Surface Modification to Improve the Structure Stability and Electrochemical Performance of Full Concentration Gradient Li-Rich Oxides

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Energy & Environmental Materials 2024年第3期7卷 41-48页

作者： Naifang Hu Yuan Yang Lin Li Yuhan Zhang Zhiwei Hu Lan Zhang Jun Ma Guanglei Cui Qingdao Industrial Energy Storage Research Institute Qingdao Institute of Bioenergy and Bioprocess TechnologyChinese Academy of SciencesQingdao 266101China Institute of Materials Science and Engineering Ocean University of ChinaQingdao 266100China School of Future Technology University of Chinese Academy of SciencesBeijing 100049China Max Planck Institute for Chemical Physics of Solids Nothnitzer Strasse 40Dresden D-01187Germany CAS Key Laboratory of Green Process and Engineering Beijing Key Laboratory of Ionic Liquids Clean ProcessState Key Laboratory of Multiphase Complex SystemsInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China Shandong Energy Institute Qingdao 266101China

Full concentration gradient lithium-rich layered oxides are catching lots of interest as the next generation cathode for lithium-ion batteries due to their high discharge voltage,reduced voltage decay and enhanced rate performance,whereas the high lithium residues on its surface impairs the structure stability and long-term cycle ***,a facile multifunctional surface modification method is implemented to eliminate surface lithium residues of full concentration gradient lithium-rich layered oxides by a wet chemistry reaction with tetrabutyl titanate and the post-annealing *** realizes not only a stable Li_(2)TiO_(3)coating layer with 3D diffusion channels for fast Li^(+)ions transfer,but also dopes partial Ti^(4+)ions into the sub-surface region of full concentration gradient lithium-rich layered oxides to further strengthen its crystal ***,the modified full concentration gradient lithium-rich layered oxides exhibit improved structure stability,elevated thermal stability with decomposition temperature from 289.57℃to 321.72℃,and enhanced cycle performance(205.1 mAh g^(-1)after 150 cycles)with slowed voltage drop(1.67 mV per cycle).This work proposes a facile and integrated modification method to enhance the comprehensive performance of full concentration gradient lithium-rich layered oxides,which can facilitate its practical application for developing higher energy density lithium-ion batteries.

关键词： full concentration gradient lithium-rich layered oxides structure stability surface modification

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TransTracking for UAV: An Autonomous Real-time Target Tracking System for UAV via Transformer Tracking

TransTracking for UAV: An Autonomous Real-time Target Tracki...

引用

2021 International Conference on Intelligent technology and Embedded systems, ICITES 2021

作者： Sun, Xiaolou Xie, Fei Wang, Qi Yao, Yuncong Wang, Hao Wang, Wei Yang, Wankou School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Nanjing University of Information Science and Technology School of Automation Nanjing211800 China

ISBN: (纸本)9781665427555

Most of the existing Siamese-type trackers usually adopt pre-defined anchor boxes or anchor-free schemes to accurately estimate the bounding box of targets. Unfortunately, they suffer from complicated hand-designed components and tedious post-processings. It is not easy to adjust parameters for unique scenes in real applications. So, we propose a new scheme by formulating visual tracking as a direct set prediction problem to alleviate this issue. The main component is a transformer attached to the Siamese-type feature extraction networks. Thus, our new framework can be summarized as Siamese Network with Transformers (SiamTFR). With a fixed small set of learned object queries, we force the final set of predictions via bipartite matching, significantly reducing hyper-parameters associated with the candidate boxes. Due to the unique predictions of this framework, we significantly ease the heavy burden of hyper-parameters search of post-processings in visual tracking. Extensive experiments on visual tracking benchmarks, including GOT-10K, demonstrate that SiamTFR achieves competitive performance and runs at 50 FPS. Specifically, SiamTFR outperforms leading anchor-based tracker SiamRPN++ in the GOT-10K benchmark, confirming its effectiveness and efficiency. Furthermore, SiamTFR is deployed on the embedded device in which the algorithm can be run at 30FPS or 54FPS with TensorRT meeting the real-time requirements. In addition, we design the complete tracking system demo that can work in the real road to narrow the gap between the academic models and industrial deployments. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Entire solutions to the parabolic Monge-Ampère equation with unbounded nonlinear growth in time

arXiv

引用

arXiv 2023年

作者： An, Ning Bao, Jiguang Liu, Zixiao School of Mathematical Sciences Beijing Normal University Laboratory of Mathematics and Complex Systems Ministry of Education Beijing100875 China Institute of Applied Mathematics Department of Mathematics Facility of Science Beijing University of Technology Beijing100124 China

MSC Codes 35A01, 35K96, 35B40The Liouville type theorem on the parabolic Monge-Ampère equation −ut det D2u = 1 states that any entire parabolically convex classical solution must be of form −t + |x|2/2 up to a re-scaling and transformation, under additional assumption that partial derivative with respect to time variable ut is strictly negative and bounded. In this paper, we study the case when ut is unbounded, prove an existence result of entire parabolically convex smooth solution and investigate the asymptotic behavior near infinity. Copyright © 2023, The Authors. All rights reserved.

关键词： Nonlinear equations

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