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Chinese control and Decision Conference, CCDC

作者： Ranjiang Wang Jiangbo Zhao Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665478977

In this paper, according to the different dynamic models of the support phase and the swing phase, the joint torque compensation of the support phase and the swing phase are given to compensate the joint torque of the hydraulic quadruped robot controlled by the virtual model control(VMC). This compensation can increase the tracking effect of the foot end on the swing trajectory, reduce the elasticity and damping coefficient of the virtual model method, and increase the flexibility of the leg. Then this paper establishes the touchdown detection function based on the joint torque obtained by the Lagrange dynamics equation and the joint torque obtained by the force sensor to determine the touch state of the foot of the quadruped robot to switch the phase of the leg. At the end of this paper, simulation and experiment prove that the compensation model and touchdown detection function model have feasibility and correctness.

关键词： Legged locomotion Damping Torque Switches Hydraulic systems Elasticity Mathematical models

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Detection of Weak Signal Amplitude of Winding Deformation Based on Duffing Oscillator

Detection of Weak Signal Amplitude of Winding Deformation Ba...

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Chinese control Conference (CCC)

作者： Sheng-Min Li Yuan-Yuan He Yue-Yue Che Xu-Xia Sun Academy of Automation & Information Engineering Xi’an University of Technology Xi’an Key Laboratory of Shaanxi Province for Complex System Control and Intelligent Information Processing Xi’an

In order to solve the problem that it is difficult to detect the weak sinusoidal response signal when the frequency response method is used to detect the transformer winding deformation fault online, this paper proposes a method to detect the amplitude of the response signal by using Duffing oscillator. Secondly, in order to solve the influence of the target signal phase shift on the amplitude detection in the actual detection process, a method of first detecting the signal phase using a vibrator array composed of Duffing vibrators and then detecting the amplitude is proposed. Finally, using this method to process the two sets of measured response signals of online detection, the detection results show that the maximum error between the detected signal amplitude and the standard signal is 5. 69%, which meets the requirements of the power industry standard, which proves that the method used in this article is It is feasible in winding deformation detection.

关键词： Phased arrays Simulation Windings Frequency response Power industry Oscillators Standards

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AnyBipe: An End-to-End Framework for Training and Deploying Bipedal Robots Guided by Large Language Models

arXiv

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arXiv 2024年

作者： Yao, Yifei He, Wentao Gu, Chenyu Du, Jiaheng Tan, Fuwei Zhu, Zhen Lu, Junguo All authors are with Machine Vision and Autonomous System Laboratory Department of Automation School of Electrical Information and Electronic Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai China

Training and deploying reinforcement learning (RL) policies for robots, especially in accomplishing specific tasks, presents substantial challenges. Recent advancements have explored diverse reward function designs, training techniques, simulation-to-reality (sim-to-real) transfers, and performance analysis methodologies, yet these still require significant human intervention. This paper introduces an end-to-end framework for training and deploying RL policies, guided by Large Language Models (LLMs), and evaluates its effectiveness on bipedal robots. The framework consists of three interconnected modules: an LLM-guided reward function design module, an RL training module leveraging prior work, and a sim-to-real homomorphic evaluation module. This design significantly reduces the need for human input by utilizing only essential simulation and deployment platforms, with the option to incorporate human-engineered strategies and historical data. We detail the construction of these modules, their advantages over traditional approaches, and demonstrate the framework’s capability to autonomously develop and refine controlling strategies for bipedal robot locomotion, showcasing its potential to operate independently of human intervention. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Self-organized Criticality in C. elegans Neural Network

Self-organized Criticality in C. elegans Neural Network

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第42届中国控制会议

作者： Xiao Gu Jian Liu Ye Yuan Peng Zhao Kuankuan Xin Tao Fang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Engineering Research Centre of Intelligent Control and Management Institute of Machine Intelligence University of Shanghai for Science and Technology Queensland Brain Institute The University of Queensland

The self-organized criticality is a fundamental property for organisms to perform normal functional *** large-scale biological neural network researches have found the existence of self-organized criticality through avalanche phenomenon, which is typical characteristic of self-organized criticality. However, such research method is not suitable for small-scale biological neural network, because number of neurons in small-scale biological neural network is not large enough to support the emergence of avalanche phenomenon. It has been demonstrated that branching parameter can also be used to describe the propagation of activity in the neural network. Here, in this paper, the C. elegans neural network composed of 302 neurons is selected to investigate the existence of self-organized criticality using branching parameter. Based on the obtained connectome of C. elegans, a directed graph model is constructed to simulate the gradient potential of neurons and the activity of C. elegans, then, the existence of self-organized criticality in the neural network of C. elegans is proved by using branching parameter method. Meanwhile, the result is further confirmed by analyzing the calcium activity data of C. elegans obtained from biological experiments.

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A depthwise separable convolution based 6D pose estimation network by efficient 2D-3D feature fusion

A depthwise separable convolution based 6D pose estimation n...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Feng, Qi Gu, Chaochen Qin, Jiani Xu, Rui Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9781665436786

Precise 6D pose estimation of the target object is an essential prerequisite for robots to understand the real world. Previous 6D pose estimation methods based on 3D data usually have problems such as long model training time, imperfect feature extraction, redundant network model parameters, and complicated follow-up processing steps. This paper proposes a 2D-3D feature fusion module that could enhance feature extraction for the 6D pose estimation network. Furthermore, we compress the size of model parameters by adopting depthwise separable convolution to accelerate training speed and to reduce memory consumption. The experiment results on LineMOD dataset show the effectiveness of our method. Our method achieves on par or better performance than the state-of-art methods for 6D pose estimation and reduces model training time and the number of model parameters simultaneously. © 2021 IEEE.

关键词： Convolution

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Enhancing the McEliece Scheme Based on Concatenation of Polar Codes and Blocked QC-LDPC Codes

Enhancing the McEliece Scheme Based on Concatenation of Pola...

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IEEE Conference on Communications and Network Security (CNS)

作者： Xin Lin Yusun Fu Zihao Wang Junpeng Yin Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350375961

ISBN: (纸本)9798350375978

This paper proposes an enhanced McEliece cryptosystem, leveraging a concatenation scheme of Polar codes and blocked QC-LDPC codes. During the key generation phase, the generator matrices for both Polar and blocked QC-LDPC codes are employed as private keys. These matrices are subsequently multiplied by reversible and random permutation matrices respectively. The products of these multiplications are then combined to form the public key, effectively concealing the structural properties of the generator matrices. In the encryption phase, the plaintext is encrypted sequentially through the Polar codes and the blocked QC-LDPC codes. This process introduces two layers of random error vectors, culminating in the generation of the encrypted ciphertext. The proposed scheme reduces the public key length by 54% and doubles the security level compared to the original McEliece scheme with similar parameters. It also significantly reduces the total key length compared to improved schemes based on Polar codes and QC-LDPC/MDPC codes at an 80-bit security level, and shortens the private key length compared to schemes based on Polar-LDPC concatenated codes. Notably, the scheme is secure against known structural and decoding attacks while increases resistance to information set decoding (ISD) attacks. Through the randomization and hashing of the plaintext, the proposed scheme can achieve IND-CCA2 security.

关键词： Resistance Codes Public key Network security Generators Vectors Decoding Encryption Concatenated codes Polar codes

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AoI-Reliability Analysis with Block Length over Erasure Channels Using Rateless Codes

AoI-Reliability Analysis with Block Length over Erasure Chan...

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International Conference on Communication Technology (ICCT)

作者： Haobo Huang Yusun Fu Yue Qiao Junpeng Yin Weiwu Yan Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

As a metric to measure the information freshness, Age of information (AoI) is widely used to evaluate low-latency high-reliability communication. Since the communication in Industrial Internet of Things (IIoT) often has the special requirements, the relationship among AoI, reliability and block length in time-critical scenarios with bounded latency and non-time-critical scenarios without bounded latency is explored respectively in this paper, based on erasure channels using rateless codes. We build a model using LT codes over erasure channels and consider two metrics: average AoI and bounded AoI. Theoretical analysis and simulation results show that AoI has a minimum value with different block lengths. Furthermore, we draw a conclusion that the minimum value of AoI under different reliability is monotonically decreasing functioned with reliability. Finally, the impact of overhead on reliability and AoI of LT codes in time-critical scenarios is studied.

关键词： Measurement Codes Simulation Reliability theory information age Communications technology Time factors Low latency communication Industrial Internet of Things

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Boltzmann Robust Soliton Distribution for Rateless Codes

Boltzmann Robust Soliton Distribution for Rateless Codes

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International Conference on Communication Technology (ICCT)

作者： Jinhui Tang Yusun Fu Yue Qiao Junpeng Yin Haobo Huang School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363760

ISBN: (纸本)9798350363777

The decoding success rate may be worse when classical degree distributions are used in short-packet transmission of rateless codes, especially in industrial communication scenarios. A novel Boltzmann degree distribution is proposed for Luby Transform (LT) codes. The Boltzmann degree distribution has a high decoding success rate for short-packet transmission but a lower decoding success rate in long-packet transmission. To balance the performance of rateless codes for short and long packet transmission, the Boltzmann degree distribution and the robust soliton distribution (RSD) are combined with a new joint degree distribution, called Boltzmann Robust Soliton Distribution (BRSD). Simulation results show that compared with RSD and Poisson robust soliton distribution (PRSD), the proposed joint distribution can achieve a higher decoding success rate and reduce the average degree, especially in short-packet transmission of industrial communication.

关键词： Codes Simulation Industrial communication Symbols Solitons Transforms Robustness Decoding complexity theory Physics

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Air Pollution Monitoring By Integrating Local and Global information in Self-Adaptive Multiscale Transform Domain

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IEEE Transactions on Multimedia 2025年

作者： Gu, Ke Liu, Yuchen Liu, Hongyan Liu, Bo Qiao, Junfei Lin, Weisi Zhang, Wenjun Beijing University of Technology School of Information Science and Technology Engineering Research Center of Intelligent Perception and Autonomous Control of Ministry of Education Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Artificial Intelligence Institute Beijing100124 China Massey University School of Mathematical and Computational Sciences New Zealand Nanyang Technological University College of Computing and Data Science Singapore Shanghai Jiao Tong University Institute of Image Communication and Information Processing Shanghai China

As the deadliest form of pollution, air pollution had a prolonged severe damage to the human health and life safety of nearly 99% of the world's population. Facing to the problem that billions of tons of pollutants discharged into the air per year by industrial activities, this paper proposed a novel image-based air pollution monitor (IAPM) by incorporating local and global information in the self-adaptive multiscale transform domain, so as to achieve the timely and effective leakage detection of typical air pollutants from a single image. To be specific, this paper first developed a screen-shaped module according to two significant findings in visual neuroscience, which include the high sensitivity of human eyes to horizontal and vertical stimuli and the center-surround inhibition, by designing and fusing the square module, horizontal strip module and vertical strip module parallelly for simulating the behaviour of human eyes to extract local features. Second, the learnable weights and proportional mapping were applied to incorporate the screen-shaped module and lightweight vision transformer as backbone, towards more richly exploiting and fusing local and global information just as the way a brain perceives external stimuli. Third, a new self-adaptive multiscale transform domain method was devised based on two motivations from the visual characteristics of multiscale perception and the brain characteristics of self-adaptive domain transform to modify the backbone by using the operations of pooling and pointwise convolution. Extensive experiments implemented on the datasets of carbon particulate matters and ethylene leakage confirmed the superior monitoring performance of the proposed IAPM model beyond the state-of-the-art (SOTA) peers by an accuracy gain of about 4%. Furthermore, the proposed IAPM model only required 0.089 GFLOPs and 0.15 million model parameters, remarkably outperforming SOTA competitors in computational efficiency and storage resources. © 1999-2

关键词： information leakage

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Integrated Power and Hydrogen Trading in Multimicrogrid Coupled with Offsite Hydrogen Refueling Stations

Integrated Power and Hydrogen Trading in Multimicrogrid Coup...

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IEEE Conference on Energy Internet and Energy system Integration (EI2)

作者： Longyan Li Chao Ning Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

This paper proposes a novel two-level electricity and hydrogen market framework for multi-microgrids (MMGs) coupled with offsite hydrogen refueling stations (HRSs), aiming to strengthen the synergy between electricity and hydrogen. The local hydrogen market among the MMG and HRSs is modeled by multi-leader multi-follower Stackelberg game theory, in which microgrids play the role of leaders to adjust hydrogen prices while HRSs participate as followers to determine their hydrogen purchase scheme. Moreover, to deal with economic and technical issues of the MMG in a holistic manner, Nash bargaining theory is used to model the electricity transaction among microgrids. A distributed algorithm is developed to solve such games, thus reducing the cost of information communication and the risk of privacy exposure. The case study demonstrates that this market mechanism guarantees benefits for all parties and boosts the independence of MMGs by reducing transactions with the main grid.

关键词： Privacy Renewable energy sources Uncertainty Costs Hydrogen Microgrids system integration

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