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Integrated Inspection of QoM, QoP, and QoS for AOI Industries in Metaverses

IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2071-2078页

作者： Yutong Wang Yonglin Tian Jiangong Wang Yansong Cao Shixing Li Bin Tian IEEE The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China North Automatic Control Technology Institute in Taiyuan ShanxiChina Qingdao Academy of Intelligent Industries Shandong 266109China

With the rapid development of information technologies such as digital twin, extended reality, and blockchain,the hype around "metaverse" is increasing at astronomical speed. However, much attention has been paid to its entertainment and social functions. Considering the openness and interoperability of metaverses, the market of quality inspection promises explosive growth. In this paper, taking advantage of metaverses, we first propose the concept of Automated Quality Inspection(Auto QI), which performs integrated inspection covering the entire manufacturing process, including Quality of Materials, Quality of Manufacturing(Qo M), Quality of Products, Quality of Processes(Qo P), Quality of systems, and Quality of Services(Qo S). Based on the scenarios engineering theory, we discuss how to perform interactions between metaverses and the physical world for virtual design instruction and physical validation feedback. Then we introduce a bottomup inspection device development workflow with productivity tools offered by metaverses, making development more effective and efficient than ever. As the core of quality inspection,we propose Quality Transformers to complete detection task,while federated learning is integrated to regulate data *** summary, we point out the development directions of quality inspection under metaverse tide.

关键词： Automated Optical Inspection Metaverses Quality Inspection Transformers

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ACP-Incorporated Perturbation-Resistant Neural Dynamics controller for Autonomous Vehicles

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON intelligent VEHICLES 2024年第4期9卷 4675-4686页

作者： Liufu, Ying Jin, Long Shang, Mingsheng Wang, Xingxia Wang, Fei-Yue Lanzhou Univ Sch Informat Sci & Engn Lanzhou 730000 Peoples R China Chinese Acad Sci Chongqing Inst Green & Intelligent Technol Chongqing Key Lab Big Data & Intelligent Comp Chongqing 400714 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100098 Peoples R China

Autonomous vehicle control systems are unavoidably influenced by diverse noise perturbations from the unpredictable external environment and internal system. In this consideration, based on the model predictive control (MPC) strategy, a perturbation-resistant neural dynamics (PRND) controller equipped with the noise-suppression ability for the path-tracking control of autonomous vehicles is newly designed in this paper, under the framework of artificial systems, computational experiments, and parallel execution (ACP). In addition, theoretical analyses show that the proposed ACP-incorporated PRND controller can behave with exponential convergence and strong robustness under different noise scenarios. Lastly, computational experiments are conducted and parallelly executed on the CarSim-Simulink platform and E-Car physical platform to demonstrate the effectiveness and superiority of the proposed controller. Overall, this paper provides a new perspective for designing neural-dynamics-based controllers for autonomous vehicles, thereby guaranteeing reliable control performance and effectively resisting noise perturbations.

关键词： Autonomous vehicles Vehicle dynamics Kinematics Task analysis control systems Robustness Predictive control Model predictive control (MPC) neural dynamics autonomous vehicles artificial systems computational experiments and parallel execution (ACP)

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Federated Vehicular Transformers and Their Federations: Privacy-Preserving Computing and Cooperation for Autonomous Driving

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IEEE TRANSACTIONS ON intelligent VEHICLES 2022年第3期7卷 456-465页

作者： Tian, Yonglin Wang, Jiangong Wang, Yutong Zhao, Chen Yao, Fei Wang, Xiao Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China North Automat Control Technol Inst Taiyuan 030006 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China

Cooperative computing is promising to enhance the performance and safety of autonomous vehicles benefiting from the increase in the amount, diversity as well as scope of data resources. However, effective and privacy-preserving utilization of multi-modal and multi-source data remains an open challenge during the construction of cooperative mechanisms. Recently, Transformers have demonstrated their potential in the unified representation of multi-modal features, which provides a new perspective for effective representation and fusion of diverse inputs of intelligent vehicles. Federated learning proposes a distributed learning scheme and is hopeful to achieve privacy-secure sharing of data resources among different vehicles. Towards privacy-preserving computing and cooperation in autonomous driving, this paper reviews recent progress of Transformers, federated learning as well as cooperative perception, and proposes a hierarchical structure of Transformers for intelligent vehicles which is comprised of Vehicular Transformers, Federated Vehicular Transformers and the Federation of Vehicular Transformers to exploit their potential in privacy-preserving collaboration.

关键词： Transformers Autonomous vehicles Collaborative work Point cloud compression Trajectory Computational modeling Vehicle dynamics Cooperative autonomous driving Federated Vehicular Transformers Federation of Vehicular Transformers Vehicular Transformers

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Enlarge the Error Prediction Dataset in 3-D Printing: An Unsupervised Dental Crown Mesh Generator

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IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2024年第6期11卷 7929-7940页

作者： Zhao, Meihua Xiong, Gang Fang, Qihang Dong, Xisong Wang, Fang Han, Yunjun Shen, Zhen Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat State Key Lab Multimodal Artificial Intelligence Beijing 100190 Peoples R China Chinese Acad Sci Guangdong Engn Res Ctr 3D Printing & Intelligent Cloud Comp Ctr Dongguan 523808 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

The quality of the dataset is critical to the performance of neural networks for error prediction in 3-D printing. In order to enlarge the dataset, we propose a customized two-stage framework, cascaded cross-modality generative adversarial networks (CCMGANs), for generating dental crown meshes in an unsupervised manner. At the first stage, a displacement map-guided generative adversarial network (GAN) is used to generate coarse meshes with diverse shapes. At the second stage, fine-grained details are added to the coarse meshes using an image-based GAN. Unlike previous work that integrates a differentiable renderer into the mesh deformation process directly, we adopt a two-step strategy. First, we use a depth image refinement module to achieve the domain transformation from the rendered depth images of the generated meshes to those of the real ones. Then, we propose a mesh refinement module to optimize the coarse meshes in an image-supervised manner. To alleviate the self-intersection problem, we propose a loss to penalize the distances of point pairs in self-intersection regions. Experimental results show that our method is able to generate highly realistic meshes and outperforms the state-of-the-art point cloud generation method TreeGCN in terms of the metrics FDD, MMD-CD, MMD-EMD, and COV-EMD. Furthermore, we utilize the generated data to augment the original dataset, and demonstrate that the generated data can effectively improve the accuracy of the error prediction task in 3-D printing.

关键词： 3-D printing depth image refinement (DR) displacement map (DM) generative adversarial network (GAN) mesh refinement

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers 3

An Optimal Control Based Trajectory Planning Method for Coop...

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3rd International Symposium on intelligent Robotics and systems, ISoIRS 2023

作者： Wang, Qi Ge, Hao Duan, Xuting Zhou, Jianshan School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology Beijing China Nanjing Research Institute of Electronic Engineering State Key Laboratory of Air Traffic Management System and Technology Nanjing China School of Transportation Science and Engineering Beihang University State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control Beijing China

ISBN: (纸本)9798350339963

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution. © 2023 IEEE.

关键词： Trajectories

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VGN: Value Decomposition With Graph Attention Networks for Multiagent Reinforcement Learning

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING systems 2024年第1期35卷 182-195页

作者： Wei, Qinglai Li, Yugu Zhang, Jie Wang, Fei-Yue 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 Macau Univ Sci & Technol Inst Syst Engn Macau 999078 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China

Although value decomposition networks and the follow on value-based studies factorizes the joint reward function to individual reward functions for a kind of cooperative multiagent reinforcement problem, in which each agent has its local observation and shares a joint reward signal, most of the previous efforts, however, ignored the graphical information between agents. In this article, a new value decomposition with graph attention network (VGN) method is developed to solve the value functions by introducing the dynamical relationships between agents. It is pointed out that the decomposition factor of an agent in our approach can be influenced by the reward signals of all the related agents and two graphical neural network-based algorithms (VGN-Linear and VGN-Nonlinear) are designed to solve the value functions of each agent. It can be proved theoretically that the present methods satisfy the factorizable condition in the centralized training process. The performance of the present methods is evaluated on the StarCraft Multiagent Challenge (SMAC) benchmark. Experiment results show that our method outperforms the state-of-the-art value-based multiagent reinforcement algorithms, especially when the tasks are with very hard level and challenging for existing methods.

关键词： Mathematical models Task analysis Games Q-learning Neural networks Behavioral sciences Training Deep learning graph attention networks (GATs) multiagent systems reinforcement learning

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LC-LLM: Explainable lane-change intention and trajectory predictions with Large Language Models

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COMMUNICATIONS IN TRANSPORTATION RESEARCH 2025年 5卷

作者： Peng, Mingxing Guo, Xusen Chen, Xianda Chen, Kehua Zhu, Meixin Chen, Long Wang, Fei-Yue Hong Kong Univ Sci & Technol Guangzhou Intelligent Transportat INTR Syst Hub Guangzhou 511400 Peoples R China Hong Kong Univ Sci & Technol Acad Interdisciplinary Studies Div Emerging Interdisciplinary Areas EMIA Hong Kong 999077 Peoples R China Guangdong Prov Key Lab Integrated Commun Sensing & Guangzhou 511400 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

To ensure safe driving in dynamic environments, autonomous vehicles should possess the capability to accurately predict lane change intentions of surrounding vehicles in advance and forecast their future trajectories. Existing motion prediction approaches have ample room for improvement, particularly in terms of long-term prediction accuracy and interpretability. In this study, we address these challenges by proposing a Lane Change-Large Language Model (LC-LLM), an explainable lane change prediction model that leverages the strong reasoning capabilities and self explanation abilities of Large Language Models (LLMs). Essentially, we reformulate the lane change prediction task as a language modeling problem, processing heterogeneous driving scenario information as natural language prompts for LLMs and employing supervised fine-tuning to tailor LLMs specifically for lane change prediction task. Additionally, we finetune the Chain-of-Thought (CoT) reasoning to improve prediction transparency and reliability, and include explanatory requirements in the prompts during the inference stage. Therefore, our LC-LLM not only predicts lane change intentions and trajectories but also provides CoT reasoning and explanations for its predictions, enhancing its interpretability. Extensive experiments based on the large-scale highD dataset demonstrate the superior performance and interpretability of our LC-LLM in lane change prediction task. To the best of our knowledge, this is the first attempt to utilize LLMs for predicting lane change behavior. Our study shows that LLMs can effectively encode comprehensive interaction information for understanding driving behavior.

关键词： Lane change (LC) Large language models (LLMs) Intention prediction Trajectory prediction Fine-tuning Interpretability Autonomous driving

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Multi-Blockchain Based Data Trading Markets With Novel Pricing Mechanisms

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2222-2232页

作者： Juanjuan Li Junqing Li Xiao Wang Rui Qin Yong Yuan Fei-Yue Wang IEEE the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the College of Computer Science and Engineering Shandong University of Science and TechnologyQingdao 266590China the School of Artificial Intelligence Anhui UniversityHefei 266114 the Qingdao Academy of Intelligent Industries Qingdao 230031China the School of Mathematics Renmin University of ChinaBeijing 100872China the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 the Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

In the era of big data,there is an urgent need to establish data trading markets for effectively releasing the tremendous value of the drastically explosive *** security and data pricing,however,are still widely regarded as major challenges in this respect,which motivate this research on the novel multi-blockchain based framework for data trading markets and their associated pricing *** this context,data recording and trading are conducted separately within two separate blockchains:the data blockchain(DChain) and the value blockchain(VChain).This enables the establishment of two-layer data trading markets to manage initial data trading in the primary market and subsequent data resales in the secondary ***,pricing mechanisms are then proposed to protect these markets against strategic trading behaviors and balance the payoffs of both suppliers and ***,in regular data trading on VChain-S2D,two auction models are employed according to the demand scale,for dealing with users’ strategic *** incentive-compatible Vickrey-Clarke-Groves(VCG)model is deployed to the low-demand trading scenario,while the nearly incentive-compatible monopolistic price(MP) model is utilized for the high-demand trading *** temporary data trading on VChain-D2S,a reverse auction mechanism namely two-stage obscure selection(TSOS) is designed to regulate both suppliers’ quoting and users’ valuation ***,experiments are carried out to demonstrate the strength of this research in enhancing data security and trading efficiency.

关键词： Auction data trading markets multi-blockchain pricing mechanisms

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Traffic Forecasting via Dilated Temporal Convolution With Peak-Sensitive Loss

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IEEE intelligent TRANSPORTATION systems MAGAZINE 2023年第1期15卷 48-57页

作者： Guo, Ge Yuan, Wei Liu, Jinyuan Lv, Yisheng Liu, Wei Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Northeastern Univ Res Acad Shenyang Peoples R China Neusoft Corp Intelligent Vis Lab Shenyang 110819 Peoples R China

Deep learning-based traffic forecasting methods can capture intricate spatiotemporal features in traffic data and environmental factors. However, they have unsatisfactory performance around the minority peaks and are inefficient for modeling wide-range spatial correlations. This article gives a peak-aware deep learning architecture for traffic forecasting by involving a cost-sensitive loss function called peak-sensitive loss. This method can improve the performance since different costs are employed on the prevalent metrics such as mean-square loss and square of mean absolute percentage loss. A spatiotemporal convolutional architecture based on a dilated convolutional network (DCN) and a temporal convolutional network (TCN) is constructed that models the spatial features (both wide and short range) by the DCN and learns the time characteristics by the TCN. The effectiveness of the model is demonstrated with real-world data sets.

关键词： Correlation Spatiotemporal phenomena Forecasting Data models Deep learning Convolution Predictive models

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