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Research Square 2021年

作者： Tami, Tariku Sinshaw Xiong, Gang Fang, Qihang Dong, Xisong Shen, Zhen Wang, Fei-Yue The State Key Laboratory for Management and Control of Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China

Fused deposition modelling (FDM) 3D printing, as a supporting technology in social manufacturing and cloud manufacturing, is a rapidly growing technology in the era of industry 4.0. It produces objects with the layer-by-layer material accumulation technique. However, qualitative uncertainties are the common challenges yet. In order to assure print quality, studying the error causing parameters and minimizing their effects is important. This paper presents a feedback-based error compensation strategy, which integrates fuzzy inference system and grey wolf optimization algorithm. The objectives are twofold. First, the possible errors in FDM 3D printing are discussed in detail and optimal error causing parameters are obtained in percentage. This is used to understand the effects of the printing errors in every phase of the 3D printing process. From the nine optimization configuration trials used, Config-6 that has 100 number of iterations and 60 wolves is selected due to its higher convergence speed and best fitness value. The integral absolute error (IAE) is used as an objective function and the global minimum is achieved in the iteration interval [86, 100]. The outputs of this optimization problem is used to achieve the next objective. Second, a closed-loop quality monitoring approach comprising of inner-loops and an outer-loop is utilized. The three inner-loops are used to monitor the errors during pre-printing, printing, and post-printing, respectively. The outer-loop, on the other hand, is responsible for monitoring the aggregated errors in all the three 3D printing phases. The error compensation system simulation in Matlab.is run for 10 seconds, and the results show that the "normal" range deformation factors are reached within less than 2 seconds for the inner-loops, whereas the outer-loop deformation factor is achieved within 7 seconds. The responses are within the acceptable time range. © 2021, CC BY.

关键词： 3D printers

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A Bioinspired retinal neural network for accurately extracting small-target motion information in cluttered backgrounds

arXiv

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arXiv 2021年

作者： Huang, Xiao Qiao, Hong Li, Hui Jiang, Zhihong School of Mechatronical Engineering Advanced Innovation Center for Intelligent Robots and Systems Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing Institute of Technology Beijing100081 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Beijing Key Laboratory of Research and Application for Robotic Intelligence of’Hand-Eye-Brain’ Interaction Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China

—Robust and accurate detection of small moving targets in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform search and tracking tasks. Inspired by the neural circuitry of elementary motion vision in the mammalian retina, this paper proposes a bioinspired retinal neural network based on a new neurodynamics-based temporal filtering and multiform 2-D spatial Gabor filtering. This model can estimate motion direction accurately via only two perpendicular spatiotemporal filtering signals, and respond to small targets of different sizes and velocities through adjusting the dendrite field size of spatial filter. Meanwhile, an algorithm of directionally selective inhibition is proposed to suppress the target-like features in the moving background, which can reduce the influence of background motion effectively. Extensive synthetic and real-data experiments show that the proposed model works stably for small targets of a wider size and velocity range, and has better detection performance than other bioinspired models. Additionally, it can also extract the information of motion direction and motion energy accurately and rapidly. Copyright © 2021, The Authors. All rights reserved.

关键词： Ophthalmology

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A Bioinspired approach-sensitive neural network for collision detection in cluttered and dynamic backgrounds

arXiv

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arXiv 2021年

—Rapid, accurate and robust detection of looming objects in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform collision detection and avoidance tasks. Inspired by the neural circuit of elementary motion vision in the mammalian retina, this paper proposes a bioinspired approach-sensitive neural network (ASNN) that contains three main contributions. Firstly, a direction-selective visual processing module is built based on the spatiotemporal energy framework, which can estimate motion direction accurately via only two mutually perpendicular spatiotemporal filtering channels. Secondly, a novel approach-sensitive neural network is modeled as a push-pull structure formed by ON and OFF pathways, which responds strongly to approaching motion while insensitivity to lateral motion. Finally, a method of directionally selective inhibition is introduced, which is able to suppress the translational backgrounds effectively. Extensive synthetic and real robotic experiments show that the proposed model is able to not only detect collision accurately and robustly in cluttered and dynamic backgrounds but also extract more collision information like position and direction, for guiding rapid decision making. © 2021, CC BY.

关键词： Mammals

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Development of GPU Enhanced AI Education Platforms for K-12 Schools

Development of GPU Enhanced AI Education Platforms for K-12 ...

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Chinese Automation Congress (CAC)

作者： Xiaoyan Gong Yifan Wen Xiwei Liu Hongxia Zhao Sifeng Jing Qiang Li Kai Gao Jilong Luo The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Institute of Smart Education Systems Qingdao China The 21st Century International School Beijing China Beijing NO. 2 Middle School Beijing China Beijing University of Chemical Technology Beijing China

ISBN: (纸本)9781665426480

Recently, with continuous implementation of education reform, AI (Artificial Intelligence) has been included in K-12 (Kindergarten to 12th grade) curricula and AI education is in full swing in China. However, standard, cost-efficient AI education platforms for K-12 schools are still not availab.e. So in this paper, based on Jetson Nano, we developed a GPU-enhanced AI teaching platform including AI learning computers for students to develop AI-related algorithms and applications, AI computer clusters for whole classes, and modular auto-driving cars to run and test algorithms and applications.

关键词： Computers Automation Education Clustering algorithms Graphics processing units Automobiles Artificial intelligence

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Parallel Point Clouds: Hybrid Point Cloud Generation and 3D Model Enhancement via Virtual-Real Integration

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REMOTE SENSING 2021年第15期13卷 2868-2868页

作者： Tian, Yonglin Wang, Xiao Shen, Yu Guo, Zhongzheng Wang, Zilei Wang, Fei-Yue Univ Sci & Technol China Dept Automat Hefei 230027 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266000 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100091 Peoples R China

Three-dimensional information perception from point clouds is of vital importance for improving the ability of machines to understand the world, especially for autonomous driving and unmanned aerial vehicles. Data annotation for point clouds is one of the most challenging and costly tasks. In this paper, we propose a closed-loop and virtual-real interactive point cloud generation and model-upgrading framework called Parallel Point Clouds (PPCs). To our best knowledge, this is the first time that the training model has been changed from an open-loop to a closed-loop mechanism. The feedback from the evaluation results is used to update the training dataset, benefiting from the flexibility of artificial scenes. Under the framework, a point-based LiDAR simulation model is proposed, which greatly simplifies the scanning operation. Besides, a group-based placing method is put forward to integrate hybrid point clouds, via locating candidate positions for virtual objects in real scenes. Taking advantage of the CAD models and mobile LiDAR devices, two hybrid point cloud datasets, i.e., ShapeKITTI and MobilePointClouds, are built for 3D detection tasks. With almost zero lab.r cost on data annotation for newly added objects, the models (PointPillars) trained with ShapeKITTI and MobilePointClouds achieved 78.6% and 60.0% of the average precision of the model trained with real data on 3D detection, respectively.

关键词： virtual LiDAR hybrid point clouds virtual-real interaction 3D detection

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Optimal Block Withholding Strategies for Blockchain Mining Pools

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IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2020年第3期7卷 709-717页

作者： Qin, Rui Yuan, Yong Wang, Fei-Yue Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266111 Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat Beijing 100190 Peoples R China Natl Univ Def Technol Res Ctr Mil Computat Experiments & Parallel Syst Changsha 410073 Peoples R China Univ Chinese Acad Sci Ctr China Econ & Social Secur Beijing 100149 Peoples R China

In proof-of-work (PoW) consensus protocol-based blockchain mining, the pools can increase their rewards by utilizing block withholding attack. As such, how much computational power should be used to attack other pools becomes an important decision issue faced by the pools. This article mainly studies the block withholding attack issue faced by mining pools. Considering the case that there are two pools, where only one pool can attack the other pool, we propose an optimal block withholding strategies for pools. We also illustrate that attacking is not always the optimal strategies for the pools and present the conditions for attacking. With computational experiment approach, we designed several experiments to validate our proposed strategies, and our results can provide important managerial insights for pools in blockchain mining.

关键词： Games Computational modeling Cryptography Automation Ecosystems Block withholding attack blockchain mining computational experiments approach pool mining

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A Multi-Antenna Spectrum Sensing Scheme Based on Main Information Extraction and Genetic Algorithm Clustering

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IEEE ACCESS 2019年 7卷 119620-119630页

作者： Zhuang, Jiawei Wang, Yonghua Zhang, Shunchao Wan, Pin Sun, Chenhao Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China South Cent Univ Nationalities Hubei Key Lab Intelligent Wireless Commun Wuhan 430074 Peoples R China

Spectrum sensing is an indispensable technology for cognitive radio networks, which enables secondary users (SUs) to discover spectrum holes and to opportunistically use under-utilized channels without causing interference to primary users. Aim at improving the sensing performance, a multi-antenna spectrum sensing scheme based on main information extraction and genetic algorithm clustering (MIEGAC) is proposed in this paper. Specifically, in order to reduce the amount of signal that is transferred to the fusion center, an information pre-processing scheme based on principal component analysis (PCA) is presented. Main information from the sensing signal is extracted via PCA, which reduces the cost of the reporting channel and the impact of interfering information on detection result. Furthermore, an information fusion method is described in this paper, which takes the place of complicated matrix decomposition algorithms. Moreover, inspired by machine learning, a clustering scheme based on genetic algorithm is introduced to classify signal features, which implements the spectrum sensing decision and avoids calculating the decision threshold. Simulation results illustrate that the MIEGAC can considerably improve the sensing performance for spectrum sensing. Significantly, this paper provides a novel approach for the design of centralized spectrum sensing algorithms in cognitive radio technologies.

关键词： Spectrum sensing principal component analysis information fusion genetic algorithm clustering

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Optimize Student Learning via Random Forest-Based Adaptive Narrative Game 16

Optimize Student Learning via Random Forest-Based Adaptive N...

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16th IEEE International Conference on Automation Science and Engineering (CASE)

作者： Hare, Ryan Tang, Ying Cui, Wei Liang, Joleen Rowan Univ Dept Elect & Comp Engn Glassboro NJ 08028 USA Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Inst Smart Educ Qingdao 266000 Peoples R China Squirrel AI Learning Shanghai 200030 Peoples R China

ISBN: (纸本)9781728169040

This paper presents an adaptive narrative game system that focuses on sequential logic design. The system adapts a random forest machine learning model to estimate a student's current level of domain knowledge relative to the problem presented to him through his game-playing behavior data, such as time taken to find solutions, errors in solutions, and emotional indicators. Hints, prompts, and/or individualized lessons are then offered to the player to guide their learning in a positive and productive direction. Our preliminary pilot study demonstrates that the model can make accurate classifications, from which proper assistance can then be provided to individual students as they play.

关键词： Students

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A Parallel Medical Diagnostic and Treatment System for Chronic Diseases

A Parallel Medical Diagnostic and Treatment System for Chron...

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Chinese Automation Congress (CAC)

作者： Jing Wang Xiao Wang Yuanyuan Guo Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China Institute of Smart Healthcare Systems Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In order to improve the accuracy of diagnosis and the effectiveness of treatment on chronic diseases, a parallel medical diagnostic and treatment system for chronic diseases is proposed in this paper. The system consists of the artificial system, computational experiments and parallel execution. Generally, the actual medical system includes real doctors, real patients, and the process of real doctors diagnosing and creating a treatment plan. Based on the components in actual medical system, the virtual doctors and virtual patients are created in artificial system. The computational experiments are to exhaustively explore and evaluate reasonable diagnoses and treatment options, so that the most accurate diagnosis and the best treatment plan are configured. The parallel execution between the artificial and the actual system includes the interaction between virtual doctors and real doctors as well as that between the virtual patients and actual patients. The parallel execution, on the doctors' end, is to ensure the precise diagnosis of diseases and the effectiveness of the treatment plan. On the other hand, the parallel execution, on the patients' end, is to provide patients with more personal guidance on following the treatment and to assist sending feedback to the system regarding the treatment effectiveness. As the chronic diseases generally require a long-term treatment, this parallel system can better accommodate the process by continuously monitoring the treatment and sending feedback to the model so as to actively optimize the treatment plan.

关键词： Medical diagnostic imaging Medical services Diseases Medical diagnosis Deep learning Neural networks Knowledge engineering

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Real-world Robot Reaching Skill Learning Based on Deep Reinforcement Learning 32

Real-world Robot Reaching Skill Learning Based on Deep Reinf...

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32nd Chinese control And Decision Conference (CCDC)

作者： Liu, Naijun Lu, Tao Cai, Yinghao Wang, Rui Wang, Shuo Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100190 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen 518055 Peoples R China Chinese Acad Sci Ctr Excellence Brain Sci & Intelligence Technol Shanghai 200031 Peoples R China

ISBN: (纸本)9781728158556

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and structured. However, with robots gradually applied in more domains, robots often encounter working scenes which are complicated, unpredictable, and unstructured. To overcome the limitation of traditional programming method, in this paper, we apply deep reinforcement learning (DRL) method to train robot agent to obtain skill policy. As policy trained with DRL on real-world robot is time-consuming and costly, we propose a novel and simple learning paradigm with the aim of training physical robot efficiently. Firstly, our method train a virtual agent in an simulated environment to reach random target position from random initial position. Secondly, virtual agent trajectory sequence obtained with the trained policy, is transformed to real-world robot command with coordinate transformation to control robot performing reaching tasks. Experiments show that the proposed method can obtain self-adaptive reaching policy with low training cost, which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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