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Parallel Emergency management of Incidents by Integrating OODA and PREA Loops: The C2 Mechanism and Modes

IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2023年第4期53卷 2160-2172页

作者： Yang, Dongsheng Li, Qiang Zhu, Fenghua Cui, Huachao Yi, Wen Qin, Jirong Jinan Univ Sch Publ Management Emergency Management Lab Mil Civilian Integrat Emergency Command & Cont Guangzhou 510632 Guangdong Peoples R China 28th Res Inst China Elect Technol Grp Corp Nanjing 210007 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Controlof Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Shandong Peoples R China Jinan Univ Sch Publ Management Emergency Management Lab Mil Civilian Integrat Emergency Command & Cont Guangzhou 510632 Guangdong Peoples R China North Automat Control Technol Inst Taiyuan 030006 Peoples R China

Given the differences of command and control (C2) activities between the field command center and the emergency operations center (EOC), this article combined the edge C2 theory with the parallel C2 theory, and proposed a parallel incident C2 mode based on the observe-orient-decide-act (OODA) loop and planning-readiness-execution-assessment (PREA) loop. The aim is to build up a PREA loop-based parallel incident C2 mode and its related operating mechanism of edge empowerment and energy release in parallel incident C2 mode. The parallel incident C2 mode based on the PREA loop and OODA loop supports the co-existence and connection of the two roles of the incident C2 agent at the emergency scene. The two roles are the executive role of emergency response and operation and the command and organization role of the edge emergency system. This article initiates a deep integration of two different C2 process mechanisms in the emergency response and operation process, taking into account the local emergency scene and the global emergency system. Taken together, a key issue has been well addressed regarding the contradiction that the traditional emergency response cannot be reconciled in terms of rapidity and thoroughness.

关键词： Edge command and control (edge C2) incident C2 observe-orient-decide-act (OODA) loop parallel command and control (parallel C2) planning-readiness-execution-assessment (PREA) loop

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DeCAST in TransVerse for Parallel intelligent Transportation systems and Smart Cities: Three Decades and Beyonds

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IEEE intelligent TRANSPORTATION systems MAGAZINE 2022年第6期14卷 6-17页

作者： Zhao, Chen Lv, Yisheng Jin, Junchen Tian, Yonglin Wang, Jiangong Wang, Fei-Yue Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Zhejiang Supcon Informat Co Ltd Intelligent Transportat Business Grp Hangzhou 310052 Peoples R China Zhejiang Univ Coll Elect Engn Hangzhou 310027 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Macau Univ Sci & Technol Macao Inst Syst Engn Macau 999078 Peoples R China

Parallel transportation management and control was proposed three decades ago as a new paradigm for conducting complex transportation operations and has led to today's DeCAST in TransVerse platform designed and constructed according to the principle of decentralized/distributed autonomous operations and organizations. This article presents an overview of its architectures, processes, operating procedures, and major applications. The developments and applications have demonstrated clearly that parallel transportation systems are effective for networked traffic control and distributed logistical operations. The existing challenges and emerging opportunities are also addressed. A transportation foundation model based on parallel learning and federated intelligence is proposed as a potential path to the next-generation parallel intelligent transportation systems.

关键词： Transportation Data models Traffic control Roads Computational modeling complex systems Adaptation models

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Steps Toward Industry 5.0:Building“6S”Parallel Industries With Cyber-Physical-Social Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1692-1703页

作者： Xingxia Wang Jing Yang Yutong Wang Qinghai Miao Fei-Yue Wang Aijun Zhao Jian-Ling Deng Lingxi Li Xiaoxiang Na Ljubo Vlacic School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE Macao University of Science and Technology Macao 999078China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China North Automatic Control Technology Institute Taiyuan 030006China China Huaneng Group Co. Ltd.Beijing 100031China Department of Electrical and Computer Engineering Indiana University-Purdue University Indianapolis(IUPUI)IndianapolisIN 46202 USA Department of Engineering University of CambridgeCambridgeCB21PZUK School of Engineering and Built Environment Griffith UniversityGold CoastQLD 4222Australia

Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.

关键词： ACP artificial intelligence CPS CPSS Industry 4.0 Industry 5.0 parallel industries parallel intelligence

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Fuzzy C-Means Clustering Based Deep Patch Learning With Improved Interpretability for Classification Problems

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IEEE ACCESS 2022年 10卷 49873-49891页

作者： Huang, Yunhu Chen, Dewang Zhao, Wendi Lv, Yisheng Fuzhou Univ Coll Comp & Data Sci Fuzhou 350108 Peoples R China Fujian Univ Technol Sch Transportat Fuzhou 350118 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Fuzhou Univ Key Lab Intelligent Metro Univ Fujian Prov Fuzhou 350118 Peoples R China

Grid partitioning for input space results in the exponential rise in the number of rules in adaptive network-based fuzzy inference system (ANFIS) and patch learning (PL) as the number of features increases, thus resulting in the huge computational load and deteriorating its interpretability. An improved PL (iPL) is put forward for the training of each sub-fuzzy system to overcome the rule-explosion problem. In the iPL, input partitioning is done using fuzzy c-means (FCM) clustering to avoid the heavy computational complexity arising due to the large number of rules generated from high dimensionality. In this paper, two novel classifiers, called FCM clustering based deep patch learning with improved high-level interpretability for classification problems, are presented, named as HI-FCMDPL-CP1 and HI-FCMDPL-CP2. The proposed classifiers have two characteristics: One is a stacked deep structure of component iPL fuzzy classifiers for high accuracy, and the other is the use of maximal information coefficient (MIC) and the maximum misclassification threshold (MMT) to optimize the deep structures. High interpretability is achieved at each layer by using the FCM clustering, concise structure and large input dimensionality. The MMT, random input (RI) and parameter sharing (PS) are integrated to improve their classification accuracy without losing their interpretability. Experiments on several real-word datasets demonstrated that MIC, RI and PS in HI-FCMDPL-CP1 and HI-FCMDPL-CP2 are effective individually, and integrating them all three can further improve the classification performance. A more concise deep fuzzy system is obtained with the number of features and fuzzy rules reduced simultaneously. Furthermore, MIC, RI and PS are used to determine the advantages and disadvantages of using serial versus parallel structures to avoid subjective selection of these two categories.

关键词： Computational modeling Training Microwave integrated circuits Deep learning Data models Artificial neural networks Training data Fuzzy c-means (FCM) clustering maximal information coefficient (MIC) random input (RI) deep patch learning classifier interpretability

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A Gait Events Detection Algorithm Based on the Invariant Characteristic of Hip Joint Kinematics 33

A Gait Events Detection Algorithm Based on the Invariant Cha...

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第33届中国控制与决策会议

作者： Ningcun Xu Xiwei Peng Liang Peng Zeng-Guang Hou Institute of Intelligent Sensing & Motion Control School of AutomationBeijing Institute of Technology The State Key Laboratory for Management and Control of Complex Systems(SKL-MCCS) Institute of AutomationChinese academy of Science

ISBN: (纸本)9781665431293

In order to make up for the shortcomings of a single inertial sensor,which is easily disturbed and unable to directly describe the periodic characteristics of gait,a novel gait events detection algorithm is proposed which is based on the invariant characteristics of hip joint *** healthy volunteers conducted a walking experiment over the ground,who were equipped with motion capture device and insole with *** hip angle derived from motion capture device were applied to detect gait events,heel stride(HS) and toe off(TO).And the gait events detected by ground reactor force(GRF) were taken as the reference *** mean absolute difference of HS is 28±42 ms,and the mean absolute difference of TO is 27 ± 43 ms. And the confidence levels of the two gait events are 97.5% and 99.2%,*** results demonstrate that the proposed gait events detection algorithm is reliability and has potential clinical application value.

关键词： gait event inertial sensor hip joint kinematics statistical analysis

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A Survey of Brain-Inspired intelligent Robots: Integration of Vision, Decision, Motion control, and Musculoskeletal systems

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IEEE TRANSACTIONS ON CYBERNETICS 2022年第10期52卷 11267-11280页

作者： Qiao, Hong Chen, Jiahao Huang, Xiao Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Beijing Inst Technol Key Lab Biomimet Robots & Syst Chinese Minist Educ Sch Mechatron EngnAdv Innovat Ctr Intelligent Ro Beijing 100081 Peoples R China

Current robotic studies are focused on the performance of specific tasks. However, such tasks cannot be generalized, and some special tasks, such as compliant and precise manipulation, fast and flexible response, and deep collaboration between humans and robots, cannot be realized. Brain-inspired intelligent robots imitate humans and animals, from inner mechanisms to external structures, through an integration of visual cognition, decision making, motion control, and musculoskeletal systems. This kind of robot is more likely to realize the functions that current robots cannot realize and become human friends. With the focus on the development of brain-inspired intelligent robots, this article reviews cutting-edge research in the areas of brain-inspired visual cognition, decision making, musculoskeletal robots, motion control, and their integration. It aims to provide greater insight into brain-inspired intelligent robots and attracts more attention to this field from the global research community.

关键词： Robots Visualization Task analysis Brain modeling Musculoskeletal system Motion control Decision making Brain-inspired intelligent robots decision making muscle control musculoskeletal robots visual cognition

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Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm 35

Design of a curled hyper-redundant manipulator and the motio...

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35th Chinese control and Decision Conference (CCDC)

作者： Zhang, Aoshun Li, En Zhang, Feng Guo, Rui Luo, Mingrui Zhang, Yuwei Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing Peoples R China Chinese Acad Sci Engn Lab Intelligent Ind Vis Beijing Peoples R China State Grid Intelligent Technol Co Ltd Shandong Peoples R China State Grid Shandong Elect Power Co Jinan Power Su Jinan Shandong Peoples R China

ISBN: (纸本)9798350334722

In order to meet the operational needs in some narrow environments, the hyper-redundant snake-shaped manipulator has received extensive attention and has been widely studied due to its compact shape and multiple degrees of freedom. At present, the research of hyper-redundant manipulator mainly focuses on the straight push platform. Considering the limitation of working space, this paper designed a hyper-redundant manipulator delivered by a curled turntable. According to the characteristics of turntable delivery, a tip-following algorithm based on curve fitting and a tip-following strategy based on terminal posture record are proposed. Finally, with the algorithm applied to the physical robot we made, we successfully realized the tip-following motion control of the hyper-redundant manipulator.

关键词： Hyper-redundant manipulator Turntable delivery Tip-following algorithm

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Generalized Discrete-Time Variable Gain ADRC for Nonlinear systems and Its Application to Parallel Teleoperated Manipulators

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IEEE TRANSACTIONS ON CIRCUITS AND systems I-REGULAR PAPERS 2025年第6期72卷 2868-2877页

作者： Gu, Shaomeng Zhang, Jinhui Cheng, Long Wu, Yuanqing Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen 518107 Peoples R China

In this paper, we propose a novel generalized discrete-time variable gain active disturbance rejection control (DTVGADRC) method for the n-th order discrete-time nonlinear systems. The error-driven generalized DTVGADRC can dynamically improve the control performances, including generalized discrete-time variable gain tracking differentiator (DTVGTD), generalized discrete-time variable gain extended state observer (DTVGESO), and generalized discrete-time variable gain controller (DTVGC). Furthermore, the stability analysis of generalized DTVGADRC is performed, and the parameters in the variable gain functions are determined by the theoretical analysis. Finally, the generalized DTVGADRC method is applied to parallel teleoperated manipulators, and the experiment results are presented to illustrate effectiveness of the proposed method.

关键词： Digital TV Gain Nonlinear dynamical systems Transient analysis Sufficient conditions Stability analysis Convergence state estimation Manipulator dynamics Automation Nonlinear systems active disturbance rejection control tracking differentiator extended state observer variable gain parallel teleoperated manipulators

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Blockchain-Based Crypto management for Reliable Real-Time Decision-Making

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IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2023年第6期10卷 3333-3342页

作者： Wang, Ge Li, Juanjuan Wang, Xiao Li, Junqing Yuan, Yong Wang, Fei-Yue Macau Univ Sci & Technol Macao Inst Syst Engn Macau Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China Shandong Univ Sci & Technol Coll Comp Sci & Engn Qingdao 266590 Peoples R China Renmin Univ China Sch Math Beijing 100872 Peoples R China

Crypto management is proposed to tackle the management decision-making challenges under data asymmetry and trust asymmetry that cannot be solved merely by technical means. It emphasizes the novel management model for the real-time generation of reliable, trustworthy, and usable management decisions based on blockchain and blockchain-driven technologies. First, the framework model of crypto management with detailed descriptions of each technique is introduced, where blockchain is the underlying technology, decentralized autonomous organization (DAO) is the management structure, federated data is the decision basis, smart contract is the decision method, and non-fungible token (NFT) is the main decision incentive. Then, its collaboration mechanisms of on-blockchain DAO and off-blockchain organization as well as intra-organization and extra-organization nodes are discussed. Moreover, the potential applications of crypto management are addressed, and a case of task-oriented performance management is given to state how crypto management works to generate the real-time management decisions. Toward the end, the future research directions are pointed out in this emerging new area.

关键词： Blockchains Decision making Reliability Security Encryption Smart contracts Data models Blockchain crypto management decentralized autonomous organizations (DAOs) federated data non-fungible token (NFT) smart contract

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Safety-Balanced Driving-Style Aware Trajectory Planning in Intersection Scenarios With Uncertain Environment

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON intelligent VEHICLES 2023年第4期8卷 2888-2898页

作者： Wang, Xiao Tang, Ke Dai, Xingyuan Xu, Jintao Xi, Jinhao Ai, Rui Wang, Yuxiao Gu, Weihao Sun, Changyin Anhui Univ Sch Artificial Intelligence Hefei 230031 Peoples R China Haomo Technol Co Ltd Beijing 100192 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266114 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

This paper proposes a two-stage trajectory planning method for self-driving vehicles (SDVs) in intersection scenarios with uncertain social circumstances while considering other traffic participants, which are human-driving vehicles (HDVs) with different driving styles. The mixture-of-experts approach is first utilized to learn from human-driving trajectory data to construct a multimodal motion planner, which uses a Transformer to model the interactions between vehicles by explicitly considering their driving styles to facilitate the integrated network to achieve scene-consistent multimodal trajectory prediction and candidate trajectory generation. Second, based on the generated trajectories for the SDV and the predicted trajectories for the other HDVs, each candidate planning trajectory is evaluated via a safety-balanced value function. After that, the trajectory with the highest value is selected for implementation. Such a method plans a safe and efficient driving trajectory in complex and uncertain scenarios. The experimental results demonstrate the efficiency and effectiveness of the designed method as well as the robustness and reasonableness of the SDVs' maneuver decisions at an intersection considering the behavioral dynamics of HDVs.

关键词： Trajectory Planning Trajectory planning Safety Predictive models Training Data models Autonomous vehicles trajectory planning social interactions uncertain circumstances

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