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Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light

IEEE SENSORS JOURNAL 2021年第14期21卷 16359-16370页

作者： Lu, Zhenfeng Fan, Junfeng Hou, Zhanxin Deng, Sai Zhou, Chao Jing, Fengshui China Univ Min & Technol Sch Mech Elect & Informat Engn Dept Mech Engn Beijing 100083 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

The teaching programming mode and offline programming mode of welding robot are essential parts in today's manufacturing industry. However, these modes can't meet the automation requirements and adaptive ability of welding robot. To achieve 3D path acquisition of weld seam for robot autonomous programming, a fast and accurate offline 3D seam extraction method is proposed based on monocular structured light sensor. In this method, gray code and phase-shift code raster images are projected to the workpiece, and the 3D coordinates of the weld are calculated by collecting the workpiece images with raster patterns. The path fitting of robot is completed by polynomial fitting method. The novel monocular structured light sensor used by this paper has compact structure and small volume, and can adapt to a variety of welding working scenes. The combination of gray code and phase shift code makes the measurement accurate and fast, and achieves the effect of full resolution decoding. The experimental results show that the proposed method can complete the task of 3D weld extraction and path fitting, which has the characteristics of high efficiency and strong robustness.

关键词： Structured light weld extraction visual sensor 3D reconstruction path model

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Iterative assist-as-needed control with interaction factor for rehabilitation robots

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Science China(Technological Sciences) 2021年第4期64卷 836-846页

作者： CAO Ran CHENG Long YANG ChenGuang DONG Zhe School of Artificial Intelligence University'of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Institute of Automation.Chinese Academy of SciencesBeijing 100190China School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China School of Electrical and Control Engineering North China Universityof TechnologyBeijing 100144China

Rehabilitation robots for stroke patients have drawn considerable attention because they can reduce the economic and labor costs brought by traditional rehabilitation. control methods for rehabilitation robots have been developed to stimulate the active motion of patients and to improve the effectiveness of rehabilitation care. However, current control methods can only roughly adjust the system’s stiffness and may fail in achieving satisfactory performance. To this end, this paper introduces a novel cost function consisting of the tracking error term and the stiffness term. The cost function contains an interaction factor that represents the patient’s motion intention to balance the weight of these two terms. When the patients try to actively do training tasks, the weight of stiffness term increases, which leads to the larger allowable tracking error and lower stiffness eventually. An iterative updating law of the stiffness matrix is given to reduce the proposed cost function. Theoretical analysis based on the Lyapunov theory is given to ensure the feasibility of the proposed algorithm. Furthermore, a force estimation is used to improve interaction control performance. Finally, simulation experiments are provided to show the effectiveness of the proposed algorithm.

关键词： human-robot interaction impedance stiffness control rehabilitation

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LILAC: Learning a Leader for Cooperative Reinforcement Learning

LILAC: Learning a Leader for Cooperative Reinforcement Learn...

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IEEE Conference on Games (CoG)

作者： Fu, Yuqian Chai, Jiajun Zhu, Yuanheng Zhao, Dongbin Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Wuhan Univ Elect Informat Sch Wuhan Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China

ISBN: (数字)9781665459891

ISBN: (纸本)9781665459891

In cooperative multi-agent reinforcement learning, role-based learning promises to reach satisfactory policy learning through the decomposition of complicated tasks using roles. Different roles are responsible for different aspects of the task. However, how this group of roles can be quickly identified is not clear. To address this problem, we propose a novel framework, LearnIng a LeAder for Cooperative reinforcement learning (LILAC), which introduces a leader to integrate information to assign roles. Leaders take a broad view of the whole task and feed the integrated information into a Gaussian mixture model to sample role embedding distribution. It enables LILAC to assign appropriate roles to different agents and improves cooperative performance. In order to evaluate the cooperation of multiple agents, a mixing network, inputted by individual local utility networks, is constructed to estimate the global action value. Two loss functions, temporal difference loss and mean divergence loss, are adopted by LILAC to learn network parameters and to encourage diversity of policies for different roles. By virtue of the leader module, LILAC outperforms the StarCraft II micromanagement benchmark in our experiments, especially on challenging tasks.

关键词： multi-agent reinforcement learning role-based method deep learning game AI

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Recent developments of the reconstruction in magnetic particle imaging

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Visual Computing for Industry,Biomedicine,and Art 2022年第1期5卷 290-302页

作者： Lin Yin Wei Li Yang Du Kun Wang Zhenyu Liu Hui Hui Jie Tian CAS Key Laboratory of Molecular Imaging the State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Molecular Imaging Beijing 100190China University of Chinese Academy of Sciences Beijing 100049China Medical Imaging Center the First Affiliated HospitalJinan UniversityGuangdong 510632China Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of MedicineBeihang UniversityBeijing 100083China

Magnetic particle imaging(MPI)is an emerging molecular imaging technique with high sensitivity and temporal-spatial *** reconstruction is an important research topic in MPI,which converts an induced voltage signal into the image of superparamagnetic iron oxide particles concentration *** reconstruction primarily involves system matrix-and x-space-based *** this review,we provide a detailed overview of the research status and future research trends of these two *** addition,we review the application of deep learning methods in MPI reconstruction and the current open sources of ***,research opinions on MPI reconstruction are *** hope this review promotes the use of MPI in clinical applications.

关键词： Magnetic particle imaging Image reconstruction System matrix X-space

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A New Approach to Finite-Horizon Optimal control for Discrete-Time Affine Nonlinear systems via a Pseudolinear Method

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IEEE TRANSACTIONS ON AUTOMATIC control 2022年第5期67卷 2610-2617页

作者： Wei, Qinglai Zhu, Liao Li, Tao Liu, Derong 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 Macau Univ Sci & Technol Inst Syst Engn Macau 999078 Peoples R China Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China

In this article, a new time-varying adaptivedynamic programming (ADP) algorithm is developed to solve finite-horizon optimal control problems for a class of discrete-time affine nonlinear systems. Inspired by the pseudolinear method, the nonlinear system can be approximated by a series of time-varying linear systems. In each iteration of the time-varying ADP algorithm, the optimal control law for the time-varying linear system is obtained. For an arbitrary initial state, it is proven that states of the time-varying linear systems converge to the states of discrete-time affine nonlinear systems. It is also shown that the iterative value functions and the iterative control laws converge to the optimal value function and the optimal control law, respectively. Finally, numerical results are presented to verify the effectiveness of the present method.

关键词： Time-varying systems Nonlinear systems Optimal control Heuristic algorithms Dynamic programming Neural networks Linear systems Adaptive dynamic programming approximate dynamic programming finite horizon nonlinear systems optimal control pseudolinear approximation

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Asynchronous $\mathcal{L}_{1}$-gain Filtering of Nonlinear Positive Semi-Markov Jump systems with Time-varying Delays

Asynchronous $\mathcal{L}_{1}$-gain Filtering of Nonlinear P...

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Chinese control Conference (CCC)

作者： Chao Ma Hang Fu Yidao Ji Wei Wu School of Mechanical Engineering University of Science and Technology Beijing China State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

In this paper, the $\mathcal{L}_{1}$ -gain based filtering problem for nonlinear positive semi-Markov jump systems is investigated by proposing a novel asynchronous design approach. More precisely, the mode-dependent... 详细信息

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper, the $\mathcal{L}_control$ -gain based filtering problem for nonlinear positive semi-Markov jump systems is investigated by proposing a novel asynchronous design approach. More precisely, the mode-dependent filters are designed in terms of practical observed modes instead of true system modes, such that less conservatism can be achieved. In addition, the effect of time-varying delays is taken into account for more robustness and applicability. By selecting suitable stochastic Lyapunov-Krasovskii functions and applying the linear programming method, sufficient conditions are established to fulfill the desired $\mathcal{L}_control$ -gain performance. Eventually, the illustrative simulation is performed to verify the effectiveness of our developed control scheme.

关键词： Maximum likelihood detection Sufficient conditions Filtering Hidden Markov models Stochastic processes Nonlinear filters Linear programming

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Adaptive Critics for Decentralized Stabilization of Constrained-Input Nonlinear Interconnected systems

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2022年第7期52卷 4187-4199页

作者： Yang, Xiong Zhou, Yingjiang Dong, Na Wei, Qinglai Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China

This article considers the decentralized stabilization problem of continuous-time nonlinear systems subject to unmatched interconnections and asymmetric input constraints. Initially, with the nonquadratic value functions being introduced to constrained auxiliary subsystems, the decentralized stabilization problem is converted into an array of nonlinear optimal control problems. It is proved that all solutions of these nonlinear optimal control problems together assure asymptotic stability of the entire system. Then, in the framework of adaptive critics, the critic-only architecture is built to solve the Hamilton-Jacobi-Bellman equations associated with these solutions. The critic-only architecture is implemented via critic neural networks (NNs) with their weight vectors being tuned through an improved gradient descent method. A remarkable feature of the present gradient descent approach is that it simultaneously utilizes previously stored and instantaneous state data, which makes the persistence of excitation conditions relaxed. After that, with Lyapunov's techniques being employed, asymptotic stability of the closed-loop auxiliary subsystems and uniform ultimate boundedness of the critic NNs' weight estimation errors are demonstrated. Finally, simulations of an unmatched interconnected nonlinear plant are provided to validate the present decentralized control method.

关键词： Optimal control Interconnected systems Nonlinear systems Decentralized control Asymptotic stability Stability analysis Artificial neural networks Adaptive critics adaptive dynamic programming (ADP) asymmetric input constraints decentralized control reinforcement learning (RL)

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Investigate the Neuro Mechanisms of Stereoscopic Visual Fatigue

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IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS 2022年第7期26卷 2963-2973页

作者： Yue, Kang Guo, Mei Liu, Yue Hu, Haochen Lu, Kai Chen, Shanshan Wang, Danli Beijing Inst Technol Sch Opt & Photon Beijing Engn Res Ctr Mixed Real & Adv Display Beijing 100081 Peoples R China Beijing Film Acad Adv Innovat Ctr Future Visual Entertainment AICFV Beijing 100088 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Stereoscopic visual fatigue (SVF) due to prolonged immersion in the virtual environment can lead to negative user experience, thus hindering the development of virtual reality (VR) industry. Previous studies have focused on investigating the evaluation indicators associated with SVF, while few studies have been conducted to reveal the underlying neural mechanism, especially in VR applications. In this paper, a modified Go/NoGo paradigm was adopted to induce SVF in VR environment with Go trials for maintaining participants' attention and NoGo trials for investigating the neural effects under SVF. Random dot stereograms (RDSs) with 11 disparities were presented to evoke the depth-related visual evoked potentials (DVEPs) during 64-channel EEG recordings. EEG datasets collected from 15 participants in NoGo trials were selected to conduct individual processing and group analysis, in which the characteristics of the DVEPs components for various fatigue degrees were compared and independent components were clustered to explore the original cortex areas related to SVF. Point-by-point permutation statistics revealed that DVEPs sample points from 230 ms to 280 ms (component P2) in most brain areas changed significantly when SVF increased. Additionally, independent component analysis (ICA) identified that component P2 which originated from posterior cingulate cortex and precuneus, was associated statistically with SVF. We believe that SVF is rather a conscious status concerning the changes of self-awareness or self-location awareness than the performance reduction of retinal image processing. Moreover, we suggest that indicators representing higher conscious state may be a better indicator for SVF evaluation in VR environments.

关键词： Visualization Electroencephalography Fatigue Stereo image processing Shape Task analysis Electrodes Depth perception depth-related visual evoked potential self-awareness stereoscopic visual fatigue virtual reality

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Exploring the Economic Feasibility of Advanced Air Mobility in the Early Stages

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 4826-4830页

作者： Jingqiu Guo Long Chen Lingxi Li Xiaoxiang Na Ljubo Vlacic Fei-Yue Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University–Purdue University Indianapolis (IUPUI) Indianapolis IN USA Department of Engineering University of Cambridge Cambridge U.K. Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith University Nathan QLD Australia State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Advanced Air Mobility (AAM) envisages a sustainable, safe, convenient, and affordable air transport system. In socio-technical transition of AAM, there are a number of trade-offs in ecosystem that need to be studied. Three perspectives on economic feasibility are explored: first, based on history of VTOL services and value of time estimates, we discuss whether AAM can provide customers with competitive mobility services; second, what are the stakeholders’ insights on the deployment of AAM; last, the experience in the development of autonomous driving technology, such as parallel intelligence, can inform future AAM research.

关键词： Active appearance model Costs Economics Transportation Helicopters Aircraft propulsion Public transportation

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DeFACT in ManuVerse for Parallel Manufacturing: Foundation Models and Parallel Workers in Smart Factories

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2023年第4期53卷 2188-2199页

作者： Yang, Jing Li, Shimeng Wang, Xiaoxing Lu, Jingwei Wu, Huaiyu Wang, 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 SANBODY Technol Co Ltd Beijing 214000 Peoples R China Qingdao Acad Intelligent Ind Qingdao 66109 Peoples R China Anhui Univ Sch Artificial Intelligence Hefei 266114 Peoples R China Qingdao Acad Intelligent Ind Qingdao 230031 Peoples R China

In cyber-physical-social systems, smart manufacturing has to overcome challenges, such as uncertainty, diversity, complexity in modeling, long-delayed responses to market changes, and human engineer dependency. DeFACT is a framework of parallel manufacturing in ManuVerse where the Decentralized Autonomous Organization-based interactions between parallel workers consisting of robotic, digital, and human workers are elaborated to transform from professional division to real-virtual division. In DeFACT, human workers are only responsible for 5% physical and mental work that is complex and creative, and the robotic and digital workers can take care of the rest. The perceptual and cognitive intelligence of digital workers are intensified by a manufacturing foundation model (MF-PC), where calibration and certification (C & C), and verification and validation (V & V) guarantee not only the accuracy of task models, but also the interpretability and controllability of feature learning. As a case study, the workflow of customized shoes of SANBODY Technology Company is illustrated to show how DeFACT breaks the time and space constraints, avoids production waste caused by aesthetic discrepancies with consumers, and truly realizes flexible manufacturing.

关键词： Artificial systems computational experiments and parallel execution (ACP) cyber-physical-social systems (CPSSs) decentralized autonomous organization (DAO) ManuVerse parallel manufacturing smart manufacturing

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