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Pythagorean-Hodograph curves-based trajectory planning for pick-and-place operation of Delta robot with prescribed pick and place heights

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ROBOTICA 2023年第6期41卷 1651-1672页

作者： Su, Tingting Liang, Xu Zeng, Xiang Liu, Shengda Beijing Univ Technol Beijing Inst Artificial Inteligence Beijing Peoples R China North China Univ Technol Dept Mech & Elect Engn Beijing Peoples R China Chinese Acad Sci CInst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

In this paper, a Pythagorean-Hodograph (PH) curve-based pick-and-place operation trajectory planning method for Delta parallel robots is proposed, which realizes the flexible control of pick-and-place operations to meet the requirements of various practical scenarios. First, according to the geometric relationship of pick-and-place operation path, different pick-and-place operations are classified. Then trajectory planning is carried out for different situations, respectively, and in each case, the different polynomial motion laws adopted by the linear motion segment and the curved motion segment are solved. Trajectory optimization is performed with the motion period as optimization objective. The proposed method is easier to implement, and at the same time satisfies the safety, optimization, mobility, and stability of the robot;that is, the proposed method realizes obstacle avoidance, optimal time, flexible control of the robot trajectory, and stable motion. Simulations and experiments verify the effectiveness of the method proposed in this paper. The proposed method can not only realize the fast, accurate, and safe operation in intelligent manufacturing fields such as rapid classification, palletizing, grasping, warehousing, etc., but its research route can also provide a reference for trajectory planning of intelligent vehicles in logistics system.

关键词： trajectory planning trajectory generation Delta parallel robot pick-and-place operation Pythagorean-Hodograph curves

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Category-Level 6D Object Pose Estimation With Structure Encoder and Reasoning Attention

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IEEE TRANSACTIONS ON CIRCUITS AND systems FOR VIDEO TECHNOLOGY 2022年第10期32卷 6728-6740页

作者： Liu, Jierui Cao, Zhiqiang Tang, Yingbo Liu, Xilong Tan, Min Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

Category-level 6D object pose estimation has gained popularity and it is still challenging due to the diversity of different instances within the same category. In this paper, a novel category-level 6D object pose estimation framework with structure encoder and reasoning attention is proposed. A structure autoencoder is introduced to mine the shared structure features in the color images within the same category, via a distinct learning strategy that recovers the image of another instance but with the most similar pose to the input. On this basis, a reasoning attention decoder and full connected layers are stacked to form a rotation prediction network, where the structure features and 3D shape features are integrated and projected to a semantic space. The semantic space includes observed patterns and learnable patterns, which are better learned by adding a shortcut connection branch parallel to reasoning attention decoder with gradient decouple. Further reasoning based on these patterns endows the decoder with powerful feature representation. Without 3D object models, the proposed method models the attributes of category implicitly in the semantic space and better performance of 6D object pose estimation is guaranteed by reasoning on this space. The effectiveness of the proposed method is verified by the results on public datasets and actual experiments.

关键词： Shape Three-dimensional displays Cognition Pose estimation Feature extraction Decoding Solid modeling Category-level 6D object pose estimation structure encoder reasoning attention

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A Spatial-Temporal Approach for Multi-Airport Traffic Flow Prediction Through Causality Graphs

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION systems 2024年第1期25卷 532-544页

作者： Du, Wenbo Chen, Shenwen Li, Zhishuai Cao, Xianbin Lv, Yisheng Beihang Univ Sch Elect & Informat Engn Beijing 100191 Peoples R China Beihang Univ Key Lab Adv Technol Near Space Informat Syst Beijing 100191 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing 100190 Peoples R China Shandong Jiaotong Univ Shandong Key Lab Smart Transportat Preparat Jinan 250353 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

Accurate airport traffic flow estimation is crucial for the secure and orderly operation of the aviation system. Recent advances in machine learning have achieved promising prediction results in the single-airport scenario. However, these works overlook the variational spatial interactions hidden among airports and show limited performances on the traffic flow prediction task for the aviation system which is composed of several airports. In this paper, we consider the multi-airport scenario and propose a novel spatio-temporal hybrid deep learning model to efficiently capture spatial correlations as well as temporal dependencies in a parallelized way. Specifically, we introduce the causal inference among airports to model their interactions and thus construct adaptive causality graphs in a data-driven manner to address the heterogeneity of airports. Furthermore, given that multi-source features are not applicable for all airports, a feature mask module is designated to adaptively select the features in spatial information mining. Extensive experiments are conducted on the real data of top-30 busiest airports in China. The results show that our spatio-temporal deep learning approach is superior to state-of-the-art methodologies and the improvement ratio is up to 4.7% against benchmarks. Ablation studies emphasize the power of the proposed adaptive causality graph and the feature mask module. All of these prove the effectiveness of the proposed methodology.

关键词： Airport traffic flow predictive models deep learning causality graph spatiotemporal analysis

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

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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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A Deep Learning Based Personal Authentication Method Using sEMG Signal 41

A Deep Learning Based Personal Authentication Method Using s...

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第41届中国控制会议

作者： Lina Tong Mingjia Zhang Daisong Liu Hanghang Ma Yuxiang Zhang Liang Peng School of Mechanical Electronic & Information Engineering Chinese University of Mining and Technology-Beijing State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChina Academy of Science

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Personal authentication means that the relevant system confirms whether the identity of the user is real,legal and unique.A safe and convenient personal authentication method is a core for guarantee the security of our information and *** Electromyography(sEMG),which exists on the surface of the skin,is a good signal to achieve personal authentication,for it is difficult to be extracted and *** this paper,a new personal authentication method using forearm sEMG is ***,8-channel sEMG signals are recorded by Myo armband that is placed on right forearm of 14 subjects who perform the same hand open ***,two different deep learning models are presented to classify the *** multi-layers Convolution Neural Network(ML-CNN) and two stages Long Short Term Memory(2 s-LSTM) Network can achieve accuracy of 97.50% and 93.60% respectively,shows it is feasible to achieve the goal of personal *** the time cost of ML-CNN is higher than the 2 s-LSTM,both are lower than human reaction *** the architecture of ML-CNN is more suitable to achieving the goal of personal authentication.

关键词： Personal Authentication Surface Electromyography(sEMG) Myo multi-layers Convolution Neural Network(CNN) LSTM Network

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Parallel Tourism System With Foundation Models and Decentralized Autonomous Organizations

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INTERNATIONAL JOURNAL OF TOURISM RESEARCH 2025年第2期27卷

作者： Huang, Jun Tian, Yonglin Zhang, Tengchao Ni, Qinghua Lin, Fei Lee, Timothy J. Wu, Naiqi Wang, Fei-Yue Macau Univ Sci & Technol Fac Innovat Engn Dept Engn Sci Macau Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing Peoples R China Macau Univ Sci & Technol Fac Hospitality & Tourism Management Macau Peoples R China

Tourism is a critical driver of economic growth and cultural exchange. However, traditional tourism models often struggle to address challenges such as insufficient understanding of diverse travel preferences, limited capacity for personalized services, and a lack of intelligent, convenient service solutions. In this paper, we propose a virtual-real interactive Parallel Tourism System (PTS) and a Smart Tourism and Lifestyle Service Large Model (STLS-LM) to handle these challenges. By integrating Decentralized Autonomous Organizations (DAOs) and Foundation Models (FMs) supported by Retrieval-Augmented Generation, PTS elevates tourism services by incorporating agentic intelligence and autonomous intelligence, advancing beyond traditional AI-powered applications. The proposed framework enables a deep understanding of task requirements, precise multi-source information sensing, personalized functionality customization, and timely public feedback adoption, forming a comprehensive intelligent travel service system that caters to the evolving needs of modern tourism.

关键词： agentic intelligence autonomous intelligence creative tourism decentralized autonomous organizations large language models parallel intelligence retrieval-augmented generation

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Toward a Novel Robotic Manta With Unique Pectoral Fins

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2022年第3期52卷 1663-1673页

作者： Meng, Yan Wu, Zhengxing Dong, Huijie Wang, Jian Yu, Junzhi 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 Peking Univ Coll Engn BIC ESATDept Adv Mfg & Robot State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

This article proposes the mechanical design and dynamic model of an innovative manta-inspired robot system for both efficient fast swimming and high spatial maneuverability. Inspired by some biological studies, a pair of unique pectoral fins with six separate degrees of freedoms (DOFs) are developed. The novel design is characterized by an improved crank-rocker mechanism and a distinctive horizontal DOF. The former not only endows the robot with high swimming speed, but also guarantees efficient flapping patterns which are close to manta rays. The latter is employed to coordinate with the flapping movement, allowing remarkable pitch adjustment. Further, the basic motion strategy is presented by detailed analyses to the pectoral fins. Besides, based on the Morrison equation and infinitesimal method, a complete dynamic model for robotic manta with flexible pectoral fins is established, whose parameters are determined through experimental data. Moreover, the linear swimming and pitching experiments are conducted, demonstrating the prominent movement performance of the presented design and the effectiveness of the dynamic model. The obtained results shed light on updated design and control of next-generation agile underwater vehicles and robots capable of multimodal motions in dynamic and complex aquatic environments.

关键词： Robots Robot kinematics Sports Vehicle dynamics Mathematical model Aerodynamics Prototypes Dynamic model pectoral fins robotic manta spatial maneuverability underwater robotics

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Parallel Sensing in Metaverses: Virtual-Real Interactive Smart systems for “6S” Sensing

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2047-2054页

作者： Yu Shen Yuhang Liu Yonglin Tian Xiaoxiang Na School of Artificial Intelligence University of Chinese Academy of ScienceBeijing 100190China IEEE The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Department of Engineering University of CambridgeTrumpington StreetCB21PZUnited Kingdom

In the construction of Metaverses,sensors that are referred to as the“bridge of information transmission”,play a key *** functionality and efficiency of today’s sensors,which operate in a manner similar to physical sensing,are frequently constrained by their hardware and *** this research,we proposed the Parallel Sensing framework,which includes background,concept,basic methods and typical application of parallel *** our formulation,sensors are redefined as the integration of real physical sensors and virtual software-defined sensors based on parallel intelligence,in order to boost the performance of the *** sensor will have a parallel counterpart in the virtual world within the framework of parallel *** sensors serve as the brain of sensors and maintain the same properties as physical *** sensing allows physical sensors to operate in discrete time periods to conserve energy,while cloud-based descriptive,predictive,and prescriptive sensors operate continuously to offer compensation data and serve as *** better illustrate parallel sensing concept,we show some example applications of parallel sensing such as parallel vision,parallel point cloud and parallel light fields,both of which are designed by construct virtual sensors to extend small real data to virtual big data and then boost the performance of perception *** results demonstrate the effective of parallel sensing *** interaction between the real and virtual worlds enables sensors to operate actively,allowing them to intelligently adapt to various scenarios and ultimately attain the goal of“Cognitive,Parallel,Crypto,Federated,Social and Ecologic”6S sensing.

关键词： Parallel Sensing Parallel Intelligence CPSS Metaverses Virtual and Real Interaction “6S”Sensing.

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Framework and key Technologies for High-speed Railway Comprehensive Transport Hub 3

Framework and Key Technologies for High-speed Railway Compre...

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3rd IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2023

作者： Xiong, Gang Zhang, Wei Liu, Xiaoming Yuan, Zhiming Zhu, Fenghua Zhang, Zundong Chinese Academy of Sciences State Key Laboratory for Multimodal Artificial Intelligence Systems Beijing China North China University of Technology School of Electrical and Control Engineering Beijing China China Academy of Railway Science Communication Signal Research Institute Beijing China Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Beijing China

ISBN: (纸本)9798350318470

The surge in urban population density in China has underscored the vital role of high-speed rail and subway systems in urban transit. Comprehensive transportation hubs, notably high-speed rail passenger terminals, have emerged as linchpins for seamless multimodal transit both within and beyond urban centers. China's railway sector vigorously champions the innovative concept of "station-city integration"and has articulated a forward-looking "16-word policy"for modern railway stations: "Seamless integration, environmental friendliness, economic viability, and intelligent accessibility". The judicious allocation of resources and the augmentation of coordination and control capabilities within comprehensive transportation hubs are imperative for the harmonious evolution of urban transit. The implementation of intelligent control systems for transportation hubs has emerged as a pivotal area of research. This study delves into the framework and critical technologies for high-speed railway comprehensive transport hubs, encompassing various components and their intricate interplay, including transport modalities, infrastructure, travelers, environmental factors, and information systems, thus forming a prototypical cyber-physical-social system. Addressing the prevalent and pressing imperative for the advancement of "station-city integration"high-speed railway comprehensive transport hubs, this research endeavor aims to surmount bottleneck challenges and refine the oversight of passenger flows at high-speed rail terminals. The findings hold noteworthy theoretical import and portend promising practical applications. © 2023 IEEE.

关键词： Integration

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Parallel Learning Based Foundation Model for Networked Traffic Signal control 26

Parallel Learning Based Foundation Model for Networked Traff...

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IEEE 26th International Conference on Intelligent Transportation systems (ITSC)

作者： Zhao, Chen Dai, Xingyuan Chen, Yuanyuan Lin, Yilun Lv, Yisheng Wang, Fei-Yue Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Shanghai AI Lab Shanghai 200232 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

ISBN: (纸本)9798350399462

Networked Traffic Signal control (NTSC) is a fundamental component of Intelligent Transportation systems (ITS) and the broader vision of smart city development. While a plethora of intelligent strategies have been developed, the Sim2Real challenge often impedes their full realization. In response, this paper introduces the Parallel Learning-based Adaptive Network for Traffic Signal control (PLANT) as a foundation model for NTSC. We employ the Wasserstein GAN with Gradient Penalty (WGAN-GP) to generate a wide range of artificial scenarios for robust PLANT training. Further, the Transformer-based Cooperation Mechanism (TCM) is integrated as the primary learner within PLANT, facilitating effective capture of traffic dynamics and knowledge accumulation. This knowledge is readily transferable to real-world applications through meticulous fine-tuning, equipping PLANT to adapt and evolve in alignment with shifting transportation paradigms. Our empirical study on the Hangzhou road network demonstrates PLANT's superiority over both traditional and emerging DRL-based approaches, emphasizing its viability as a potential foundation model for NTSC.

关键词： Intelligent systems

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