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5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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GoPIM: GCN-Oriented Pipeline Optimization for PIM Accelerators 31

GoPIM: GCN-Oriented Pipeline Optimization for PIM Accelerato...

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31st IEEE International Symposium on High Performance Computer Architecture, HPCA 2025

作者： Yang, Siling He, Shuibing Wang, Wenjiong Yin, Yanlong Wu, Tong Chen, Weijian Zhang, Xuechen Sun, Xian-He Feng, Dan The State Key Laboratory of Blockchain and Data Security Zhejiang University China Zhejiang Lab China Institute of Blockchain and Data Security China Zhejiang Key Laboratory of Big Data Intelligent Computing China Washington State University Vancouver United States Illinois Institute of Technology United States Huazhong University of Science and Technology China Wuhan National Laboratory for Optoelectronics China

ISBN: (纸本)9798331506476

Graph convolutional networks (GCNs) are popular for a variety of graph learning tasks. ReRAM-based processing-in-memory (PIM) accelerators are promising to expedite GCN training owing to their in-situ computing capability. However, existing accelerators can be severely underutilized even with pipelines, due to the oversight of the skewed execution times of various GCN stages and the ignorance of skewed degrees of graph vertices. In this work, we propose GOPIM, a GCN-oriented pipeline optimization for PIM accelerators to expedite GCN training. First, GOPIM proposes an ML-based scheme that allocates crossbar resources to the most needed stages to streamline the overall pipeline. Second, GOPIM utilizes a selective vertex updating technique that evenly distributes vertices on crossbars by interleaved mapping. These techniques collectively reduce the overall execution time without losing much accuracy. We also provide a practical architecture design for GOPIM. Our experimental results show that, GoPIM achieves up to 191 × speedup and 16.1 × energy saving, compared to the state-of-the-art work. © 2025 IEEE.

关键词： Graph neural networks

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Speaker Clustering in Textual Dialogue with Pairwise Utterance Relation and Cross-corpus Dialogue Act Supervision 29

Speaker Clustering in Textual Dialogue with Pairwise Utteran...

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29th International Conference on Computational Linguistics, COLING 2022

作者： Su, Zhihua Zhou, Qiang State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University China Beijing National Research Center for Information Science and Technology Tsinghua University China

We propose a speaker clustering model for textual dialogues, which groups the utterances of a multi-party dialogue without speaker annotations, so that the actual speakers are identical inside each cluster. We find that, without knowing the speakers, the interactions between utterances are still implied in the text, which suggest the relations between speakers. In this work, we model the semantic content of utterance with a pre-trained language model, and the relations between speakers with an utterance-level pairwise matrix. The semantic content representation can be further instructed by cross-corpus dialogue act modeling. The speaker labels are finally generated by spectral clustering. Experiments show that our model outperforms the sequence classification baseline, and benefits from the auxiliary dialogue act classification task. We also discuss the detail of determining the number of speakers (clusters), eliminating the interference caused by semantic similarity, and the impact of utterance distance. © 2022 Proceedings - International Conference on Computational Linguistics, COLING. All rights reserved.

关键词： Semantics

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Broadband high-efficiency dielectric metalenses based on quasi-continuous nanostrips

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Opto-Electronic Advances 2024年第5期7卷 43-51页

作者： Xiaohu Zhang Qinmiao Chen Dongliang Tang Kaifeng Liu Haimo Zhang Lintong Shi Mengyao He Yongcai Guo Shumin Xiao Key Laboratory of optoelectronic Technology and Systems of the Education Ministry of China Chongqing UniversityChongqing 400044China Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China Key Laboratory for Micro/Nano Optoelectronic Devices of Ministry of Education&Hunan Provincial Key Laboratory of Low-Dimensional Structural Physics and Devices School of Physics and ElectronicsHunan UniversityChangsha 410082China

Benefiting from the abrupt phase changes within subwavelength thicknesses,metasurfaces have been widely applied for lightweight and compact optical *** broadband and high-efficiency characteristics are highly attractive for the practical implementation of ***,current metasurface devices mostly adopt discrete micro/nano structures,which rarely realize both merits *** this paper,dielectric metasurfaces composed of quasi-continuous nanostrips are proposed to overcome this *** quasi-continuous nanostrips metasurface,a normal focusing metalens and a superoscillatory lens overcoming the diffraction limit are designed and experimentally *** quasi-continuous metadevices can operate in a broadband wavelength ranging from 450 nm to 1000nm and keep a high power *** average efficiency of the fabricated metalens reaches 54.24%,showing a significant improvement compared to the previously reported metalenses with the same *** proposed methodology can be easily extended to design other metadevices with the advantages of broadband and high-efficiency in practical optical systems.

关键词： broadband high-efficiency metalens sub-diffraction quasi-continuous

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Rolling Strategy and Motion Controller Design for an Aerial Vehicle Surrounded by a Six-Bar Tensegrity Structure 42

Rolling Strategy and Motion Controller Design for an Aerial ...

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42nd Chinese Control Conference, CCC 2023

作者： Liu, Qi Li, Pu Yin, Yuhan Yang, Qingkai Zhao, Xinyue Fang, Hao School of Automation Beijing Institute of Technology Beijing100081 China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China China North Vehicle Research Institute Beijing100072 China

ISBN: (纸本)9789887581543

The integrated tensegrity aerial vehicle has the ability to fly in the air and roll on the ground with collision resistance property, which can absorb part of the impact force at high speed. To achieve tractable performance, we first present a single-step rolling strategy using the genetic algorithm (GA). Based on the rolling strategy, a controller is further designed for the vehicle to roll continuously towards the specified target point on the ground. Simulation results in Simscape demonstrate the effectiveness of the single-step rolling strategy and the feasibility of the continuous rolling controller. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Controllers

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Noninvasive fluid bubble detection based on capacitive micromachined ultrasonic transducers

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Microsystems & Nanoengineering 2023年第1期9卷 115-126页

作者： Jiawei Yuan Zhikang Li Qi Ma Jie Li Zixuan Li Yihe Zhao Shaohui Qin Xuan Shi Libo Zhao Ping Yang Guoxi Luo Xiaozhang Wang Kwok Siong Teh Zhuangde Jiang State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemsXi’an Jiaotong University710049Xi’anChina School of Mechanical Engineering Xi’an Jiaotong University710049Xi’anChina Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing 265503YantaiChina School of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an710049Xi’anChina School of Engineering San Francisco State UniversitySan FranciscoCA94132USA

Ultrasonic fluid bubble detection is important in industrial controls,aerospace systems and clinical medicine because it can prevent fatal mechanical failures and threats to ***,current ultrasonic technologies for bubble detection are based on conventional bulk PZT-based transducers,which suffer from large size,high power consumption and poor integration with ICs and thus are unable to implement real-time and long-term monitoring in tight physical spaces,such as in extracorporeal membrane oxygenation(ECMO)systems and dialysis machines or hydraulic systems in *** work highlights the prospect of capacitive micromachined ultrasonic transducers(CMUTs)in the aforementioned application situations based on the mechanism of received voltage variation caused by bubble-induced acoustic energy *** corresponding theories are established and well validated using finite element *** fluid bubbles inside a pipe with a diameter as small as 8 mm are successfully measured using our fabricated CMUT chips with a resonant frequency of 1.1 *** received voltage variation increases significantly with increasing bubble radii in the range of 0.5–2.5 *** studies show that other factors,such as bubble positions,flow velocities,fluid medium types,pipe thicknesses and diameters,have negligible effects on fluid bubble measurement,demonstrating the feasibility and robustness of the CMUT-based ultrasonic bubble detection technique.

关键词： bubble negligible mentioned

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Spontaneous Emergence of Multitasking in Minimal Robotic systems 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Zhang, Ji Li, Han Du, Haoyuan Liang, Yiming Song, Wei Li, Tiefeng Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou310027 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

This study investigates the behavior of a system of identical robots modeled as self-propelled particles using the Vicsek model. The focus is on understanding the emergence of a chimera state, which represents the spontaneous emergence of multitasking capabilities in the robot swarm. The study considers scenarios with limited communication in a minimal system of 3 identical robots. Numerical simulations and stability analysis are conducted to analyze the system’s characteristics and motion patterns. The research aims to provide insights into the underlying mechanisms and develop a comprehensive framework for controlling and understanding the emergence of the chimera state in robot swarm systems. Additionally, the study examines the influence of coupling strength and phase lag on the occurrence of chimera states through direct numerical simulations and theoretical analysis. The results reveal the relationship between system structure and the manifestation of chimera states, providing valuable insights for further research in this field. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Robots

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Adaptive neural network control of a 2-DOF helicopter system considering input constraints and global prescribed performance

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Science China(Information Sciences) 2024年第7期67卷 224-239页

作者： Zhijia ZHAO Jiale WU Zhijie LIU We HE C.L.Philip CHEN School of Mechanical and Electrical Engineering Guangzhou University School of Intelligence Science and Technology and Key Laboratory of Intelligent Bionic Unmanned Systems of Ministry of Education University of Science and Technology Beijing School of Computer Science and Engineering South China University of Technology Pazhou Lab

In this study, an adaptive neural network(NN) control is proposed for nonlinear two-degree-offreedom(2-DOF) helicopter systems considering the input constraints and global prescribed ***, radial basis function NN(RBFNN) is employed to estimate the unknown dynamics of the helicopter system. Second, a smooth nonaffine function is exploited to approximate and address nonlinear constraint functions. Subsequently, a new prescribed function is proposed, and an original constrained error is transformed into an equivalent unconstrained error using the error transformation and barrier function transformation methods. The analysis of the established Lyapunov function proves that the controlled system is globally uniformly bounded. Finally, the simulation and experimental results on a constructed Quanser's test platform verify the rationality and feasibility of the proposed control.

关键词： adaptive NN control 2-DOF helicopter global prescribed performance input constraints

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Oxidation induced ductility enhancement of Zr based metallic glass ribbons in vicinity of glass transition temperature

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China Foundry 2022年第1期19卷 75-80页

作者： Jin-tao Wang Xue-feng Gao Rui-chun Wang Yin-xiao Wang Fu-yu Dong Wen-ying Xue Hong-wang Yang School of Materials Science and Engineering Shenyang University of TechnologyShenyang 110870China School of Intelligent Manufacturing Weifang University of Science&TechnologyShouguang 262700ShandongChina State Key Lab of Rolling&Automation Northeastern UniversityShenyang 110819China

Zr-based metallic glasses(MGs)possess a wide supercooled liquid region,which gives a wide processing window for superplastic forming to make microdevices with demanding size accuracy and surface *** existence of oxygen may have an influence on the thermoplastic deformation ***,the effect of oxidation on the mechanical behavior of the MGs in the vicinity of glass transition temperature is of great significance for practical forming of MG *** the present study,the effect of oxidation on tensile properties of Zr50Cu40Al10 metallic glass was *** tested samples were characterized by XRD and SEM *** the samples tested in air,the strength decreases 187 MPa,61 MPa and 59 MPa and the ductility increases 0.31,0.36,and 0.77 at 420℃,430℃,and 440℃,respectively,compared with those tested in flowing ***_(2) preferentially formed during the tensile testing at 420℃,and both ZrO_(2) and Al_(2)O_(3) oxides formed at 430℃.The dilution of Zr elements in the remaining amorphous matrix caused by preferential oxidation on the surface layer attributes to the decrease in strength and enhancement in ductility of the Zr_(50)Cu_(40)Al_(10) metallic glasses.

关键词： metallic glass mechanical properties tensile test preferential oxidation high temperature

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Time-optimal Flight in Cluttered Environments via Safe Reinforcement Learning

arXiv

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arXiv 2024年

作者： Xiao, Wei Feng, Zhaohan Zhou, Ziyu Sun, Jian Wang, Gang Chen, Jie The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The National Key Lab of Autonomous Intelligent Unmanned Systems Tongji University Shanghai201804 China

This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged computational time caused by solving complex non-convex optimization problems or are limited by the inherent smoothness of polynomial trajectory representations, thereby restricting the flexibility of movement. In this work, we present a safe reinforcement learning approach for autonomous drone racing with time-optimal flight in cluttered environments. The reinforcement learning policy, trained using safety and terminal rewards specifically designed to enforce near time-optimal and collision-free flight, outperforms current state-of-the-art algorithms. Additionally, experimental results demonstrate the efficacy of the proposed approach in achieving both minimum flight time and obstacle avoidance objectives in complex environments, with a commendable 66.7% success rate in unseen, challenging settings. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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