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IEEE TRANSACTIONS ON intelligent VEHICLES 2023年第8期8卷 4047-4056页

作者： Liu, Yuhang Sun, Boyi Tian, Yonglin Wang, Xingxia Zhu, Yin Huai, Rouxing Shen, Yu 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 Univ Chinese Acad Sci Dept Comp Sci & Technol 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 Engn Res Ctr Intelligent Syst & Technol Beijing 100190 Peoples R China North Automat Control Technol Inst Taiyuan 030006 Peoples R China Beijing Huairou Acad Parallel Sensing Beijing 101407 Peoples R China

LiDAR is an indispensable sensor for autonomous driving that can provide precise 3D information about the environment. Among various types of LiDARs, mechanical LiDARs are the most commonly used on vehicles that uniformly perceive the scene utilizing rotating motors. However, accurate perception of foreground objects is considered as the most important task in automotive LiDARs, therefore the current operating mode of mechanical LiDARs wastes a significant amount of sensing resources on the useless background. Besides, the development of LiDAR hardware and software systems is currently split into two independent segments, lacking real-time interaction between physical entities and digital models in cyberspace. To address these issues, we propose software-defined active LiDARs for autonomous driving based on parallel intelligence. Active LiDARs redefine LiDAR's hardware operation through software systems to achieve adaptive sensing resource allocation, constituting a closed loop between physical space and cyberspace. During the working process, it calculates scenario heatmaps with the constructed high-definition maps (HD maps) in cyberspace at first. Then it takes prescriptive control of physical LiDARs based on heatmaps to improve sensing resource utilization. We build two adaptive LiDAR models in CARLA and construct a hardware prototype in the parallel sensing platform, DAWN. Active Point Cloud (APC), a new dataset collected in CARLA, is proposed and a 3D object detection task is selected to demonstrate the effectiveness of active LiDARs. Our experimental results show that active LiDARs can both improve raw data quality and model performance compared with mechanical LiDARs, especially for the perception of distant objects.

关键词： Software-defined active LiDARs parallel intelligence adaptive sensing resources allocation

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RI-LIO: Reflectivity Image Assisted Tightly-Coupled LiDAR-Inertial Odometry

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IEEE ROBOTICS AND AUTOMATION LETTERS 2023年第3期8卷 1802-1809页

作者： Zhang, Yanfeng Tian, Yunong Wang, Wanguo Yang, Guodong Li, Zhishuo Jing, Fengshui Tan, Min Chinese Acad Sci Engn Lab Intelligent Ind Vis Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China State Grid Intelligence Technol Co Ltd Jinan 250101 Peoples R China

In this letter, we propose RI-LIO, a new reflectivity image assisted tightly-coupled LiDAR-inertial odometry (LIO) framework that introduces additional reflectivity texture information to efficiently reduce the drift of geometric-only methods. To achieve this, we construct an iterated extended Kalman filter framework by blending the point-to-plane geometric measurement and the reflectivity image measurement. Specifically, the geometric measurement is defined as the distance from the raw point of a new scan to its nearest neighbor plane in the global incremental kd-tree map. The searched nearest neighbor point is used to render a sparse reflectivity image after LiDAR motion distortion information is given by its corresponding raw point. Then, the reflectivity measurement is built to align the sparse reflectivity image with the dense reflectivity image of the current scan by minimizing the photometric errors directly. In addition, based on the mechanism of high-resolution LiDAR, a corrected spherical projection model is proposed to project spatial points into the image frame. Finally, extensive experiments are conducted in structured, unstructured and challenging open field scenarios. The results demonstrate that the proposed method outperforms existing geometric-only methods in terms of robustness and accuracy, especially in the rotation direction.

关键词： Laser radar Feature extraction Distortion Simultaneous localization and mapping Pose estimation Head Vertical cavity surface emitting lasers Localization mapping projection model reflectivity image SLAM

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Valuing equity-linked guaranteed minimum death benefits with European-style Asian payoffs under a regime switching jump-diffusion model

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COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2024年 128卷

作者： Wang, Yayun Liu, Shengda Chongqing Univ Posts & Telecommun Key Lab Intelligent Anal & Decis Complex Syst Chongqing 400065 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This paper presents a novel and efficient approach to pricing equity-linked guaranteed minimum death benefits (GMDB) with European-style geometric Asian and arithmetic Asian payoffs. Our method assumes that the underlying asset process follows a regime-switching Levy model, which captures the key features of market dynamics in the continuous transition of the economy. To derive the approximate value of GMDB products, we employ the complex Fourier series (CFS) expansion method. Our error analysis demonstrates that this approach exhibits an exponential convergence rate. In our numerical experiments, we compare the CFS approach to other Fourier transform methods and Monte Carlo simulation. The results show that our method outperforms the other approaches in terms of both efficiency and accuracy. This paper contributes to the literature on pricing equity-linked GMDB products by proposing a novel and efficient approach based on regime-switching Levy models and complex Fourier series expansion. The implications of our results may have significant practical implications for the insurance industry and financial markets.

关键词： Regime-switching Levy model complex Fourier series method European-style Asian option payoffs GMDB

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Cascade Learning for Driver Facial Monitoring

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON intelligent VEHICLES 2023年第1期8卷 404-412页

作者： Gou, Chao Zhou, Yuchen Xiao, Yao Wang, Xiao Yu, Hui Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen Campus Shenzhen 518107 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Portsmouth Sch Creat Technol Portsmouth PO1 2DJ Hants England

As a non-invasive method, vision-based driver monitoring aims to identify risky maneuvers for intelligent vehicles and it has gained an increasing interest over recent years. However, most existing methods tend to design models for specific tasks, such as head pose or gaze estimation, which results in redundant models hampering real time applications. Besides, most driver facial monitoring methods ignore the correlation of different tasks. In this work, we propose a unified framework based on cascade learning for simultaneous facial landmark detection and head pose estimation, as well as simultaneous eye center detection and gaze estimation. In particular, built upon the key idea that facial landmark locations and 3D face model parameters are implicitly correlated, we introduce a cascade regression framework to achieve these two tasks simultaneously. After coarsely extracting the driver's eye region from the detected facial landmarks, we perform cascade regression for simultaneous eye center detection and gaze estimation. Leveraging the power of cascade learning allows our method to alternatively optimize facial landmark detection, head pose estimation, eye center localization, and gaze prediction. The comparison experiments conducted on benchmark datasets of 300-W, GI4E, BU, MPIIGaze, and driving dataset of SHRP2 demonstrate that our proposed method can achieve state-of-the-art performance with robust effectiveness on the real driver monitoring applications.

关键词： Task analysis intelligent vehicles Three-dimensional displays Predictive models Pose estimation Monitoring Faces Driver monitoring cascade learning head pose estimation gaze estimation facial landmark detection

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Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-control for intelligent Vehicles

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1658-1672页

作者： Hong Mo Yinghui Meng Fei-Yue Wang Dongrui Wu the College of Electric and Information Engineering Changsha University of Science and TechnologyChangsha 410114China the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Qingdao Academy of Intelligent Industries Qingda 266109 the Center of China Economic and Social Security University of Chinese Academy of SciencesBeijing 100190China the Ministry of Education Key Laboratory on Image Information Processing and Intelligent Control the School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China

intelligent vehicles can effectively improve traffic congestion and road traffic *** cruise followingcontrol(ACFC)is a vital part of intelligent *** this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of ***,a traditional variable time headway model is improved considering the acceleration of the lead ***,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating *** reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control ***,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)***,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different ***,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

关键词： Adaptive cruise following-control(ACFC) feedforward+fuzzy proportion integration(PI)feedback(F+FPIF) type-2 fuzzy control variable time headway

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Learning Pre-Grasp Manipulation of Flat Objects in Cluttered Environments using Sliding Primitives

Learning Pre-Grasp Manipulation of Flat Objects in Cluttered...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wu, Jiaxi Wu, Haoran Zhong, Shanlin Sun, Quqin Li, Yinlin Peking Univ Coll Engn Intelligent Biomimet Design Lab State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Univ Sci & Technol China Dept Automat Hefei 230026 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Sci & Technol Thermal Energy & Power Lab Wuhan 430205 Peoples R China

ISBN: (纸本)9798350323658

Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat objects to the table edge, making them graspable. In this paper, we formulate this task as Parameterized Action Markov Decision Process, and a novel method based on deep reinforcement learning is proposed to address this problem by introducing sliding primitives as actions. A weight-sharing policy network is utilized to predict the sliding primitive's parameters for each object, and a Q-network is adopted to select the acted object among all the candidates on the table. Meanwhile, via integrating a curriculum learning scheme, our method can be scaled to cluttered environments with more objects. In both simulation and real-world experiments, our method surpasses the existing methods and achieves pre-grasp manipulation with higher task success rates and fewer action steps. Without fine-tuning, it can be generalized to novel shapes and household objects with more than 85% success rates in the real world. Videos and supplementary materials are available at https://***/view/pre-grasp-sliding.

关键词： Markov processes

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System Dynamics-Based Analysis on Factors Influencing Comprehensive Competence of Primary and Secondary School Students

System Dynamics-Based Analysis on Factors Influencing Compre...

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2022 Chinese Automation Congress, CAC 2022

作者： Jing, Sifeng Liu, Xiwei Gong, Xiaoyan Zhao, Hongxia Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing100190 China Qingdao Academy of Intelligent Industries Institute of Smart Education Systems Qingdao266044 China

ISBN: (纸本)9781665465335

With rapid progress of artificial intelligence (AI), it is urgent to promote educational reform to improve comprehensive competence level of primary and secondary school students (CCLPSSS). However, educational reform is a system engineering involving multiple and intertwined factors. In this research, a system dynamics-based model of education reform is developed. Then, based on this model, a series of simulation experiments are carried out to find main factors affecting improvement of CCLPSSS. Results show that: 1) this model could simulate trends of CCLPSSS under different educational reform measures;2) Measures including teaching mode reform, development and application of AI-based new teaching method, implementation of Double Reduction in compulsory education, implementation of deepening education evaluation reform policy, and development and application of AI-based education evaluation technology could play significant roles in promoting CCLPSSS and further strengthening cultivation of AI compound talents. © 2022 IEEE.

关键词： Students

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An Immersive Learning System with Multimodal Cognitive Processes Inference

An Immersive Learning System with Multimodal Cognitive Proce...

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2022 Chinese Automation Congress, CAC 2022

作者： Bian, Siyu Liu, Xiwei Zhao, Hongxia Gong, Xiaoyan Jing, Sifeng The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao266044 China

ISBN: (纸本)9781665465335

Using multimodal technology to infer learners' cognitive processes is an important means to support personalized learning. Previous cognitive process analysis is more about subjective reasoning, and less about combining physiological signals. With the rapid development of virtual reality technology, new requirements and more immersive schemes for learner's cognitive process inferring have been proposed. Based on this, this paper proposes an immersive learning system with multimodal cognitive processes inference, which is composed of macro, mesoscopic and micro environments. The system analyzes learner's actions, emotions and attention to infer learner's cognitive process through more comprehensive and objective multimodal data. The system also combines eye movement, brainwaves and other data, and proposes a multimodal data acquisition and analysis scheme using HMD-based VR. This paper also provides an immersive learning cognitive processes inference scheme for individual online learning, offline classroom learning scenarios. © 2022 IEEE.

关键词： Learning systems

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Research on intelligent methods in virtual reality games

Research on intelligent methods in virtual reality games

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2022 Chinese Automation Congress, CAC 2022

作者： Wang, JiaWei Liu, Xiwei Gong, Xiaoyan Chinese Academy of Sciences The State Key Laboratory for Management Control of Complex Systems Institute of Automation Beijing100190 China Qingdao Academy of Intelligent Industries Institute of Smart Education Systems Qingdao266044 China

ISBN: (纸本)9781665465335

Introduction of virtual reality technology enriches the expression of traditional games and greatly improves the sense of substitution and interactive experience of users. Realization of virtual reality is inseparable from artificial intelligence technology. In order to improve immersion and interactivity of virtual reality games, it is necessary to propose more intelligent solutions to existing technologies. This paper aims to discuss some intelligent methods of virtual reality games. Firstly, it discusses artificial intelligence means to enhance the virtual reality experience, which can improve the tracking and force / tactile interaction system of existing virtual reality games from software and hardware aspects;Then it proposes the concept of human-machine hybrid enhanced intelligence: by introducing human cognitive model to improve perception and decision-making ability of virtual reality games, so as to make interaction of virtual reality games more friendly and more real. © 2022 IEEE.

关键词： Virtual reality

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Parallel Factories for Smart Industrial Operations:From Big AI Models to Field Foundational Models and Scenarios Engineering

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2079-2086页

作者： Jingwei Lu Xingxia Wang Xiang Cheng Jing Yang Oliver Kwan Xiao Wang Qingdao Academy of Intelligent Industries Qingdao 266114 The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 Motion G Inc.Singapore 068898Singapore IEEE School of Artificial Intelligence Anhui UniversityHefei 230031

The rapid advancement of fundamental theories and computing capacity has brought artificial intelligence,internet of things, extended reality, and many other new intelligent technologies into our daily lives. Due to the lack of interpretability and reliability guarantees, it is extremely challenging to apply these technologies directly to real-world industrial systems. Here we present a new paradigm for establishing parallel factories in metaverses to accelerate the deployment of intelligent technologies in real-world industrial systems: QAII-1.0. Based on cyber-physical-social systems,QAII-1.0 incorporates complex social and human factors into the design and analysis of industrial operations and is capable of handling industrial operations involving complex social and human behaviors. In QAII-1.0, a field foundational model called Eu Artisan combined with scenarios engineering is developed to improve the intelligence of industrial systems while ensuring industrial interpretability and reliability. Finally, parallel oil fields in metaverses are established to demonstrate the operating procedure of QAII-1.0.

关键词： Cyber-physical-social system(CPSS) Industry5.0 Metaverses Parallel factories Parallel intelligence

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