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DTAIS:Distributed trusted active identity resolution systems for the Industrial Internet

Digital Communications and Networks 2024年第4期10卷 853-862页

作者： Tao Huang Renchao Xie Yuzheng Ren F.Richard Yu Zhuang Zou Lu Han Yunjie Liu Demin Cheng Yinan Li Tian Liu State Key Lab.of Networking and Switching Technology Beijing University of Posts and TelecommunicationsBeijingChina Department of Systems and Computer Eng. Carleton UniversityOttawaONCanada

In recent years,the Industrial Internet and Industry 4.0 came into *** the development of modern industrial intelligent manufacturing technology,digital twins,Web3 and many other digital entity applications are also *** applications apply architectures such as distributed learning,resource sharing,and arithmetic trading,which make high demands on identity authentication,asset authentication,resource addressing,and service ***,an efficient,secure,and trustworthy Industrial Internet identity resolution system is ***,most of the traditional identity resolution systems follow DNS architecture or tree structure,which has the risk of a single point of failure and DDoS *** they cannot guarantee the security and privacy of digital identity,personal assets,and device *** we consider a decentralized approach for identity management,identity authentication,and asset *** this paper,we propose a distributed trusted active identity resolution system based on the inter-planetary file system(IPFS)and non-fungible token(NFT),which can provide distributed identity resolution *** we have designed the system architecture,identity service process,load balancing strategy and smart contract *** addition,we use Jmeter to verify the performance of the system,and the results show that the system has good high concurrent performance and robustness.

关键词： Industrial Internet NFT IPFS Trust Identity resolution system

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Evolutionary state Estimation-Based Multi-Strategy Jellyfish Search Algorithm for Multi-UAV Cooperative Path Planning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-19页

作者： Meng, Kai Chen, Chen Wu, Tongyu Xin, Bin Liang, Minmin Deng, Fang State Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing China School of Materials Science and Engineering Beijing Institute of Technology Beijing China

Path planning is crucial for the successful mission execution of unmanned aerial vehicles (UAVs). However, planning feasible paths becomes challenging due to constraints imposed by complex environments and the inherent maneuverability of UAVs, particularly in large-scale scenarios involving multiple UAVs ( multi-UAV). This paper addresses the multi-UAV cooperative path planning problem, formulating it as a constrained optimization problem and proposing the evolutionary state estimation-based multi-strategy jellyfish search (ESE-MSJS) algorithm to search for high-quality paths. In the proposed algorithm, a switching framework based on evolutionary state estimation is constructed to prevent ineffective searches and enhance suitability for path planning. Within this framework, three distinct update modes are developed for each individual, enabling a more efficient and flexible selection of appropriate learning strategies. In addition, a neighborhood topology-based elite example learning strategy is employed to increase population diversity, and a best information guiding-driven adaptive scaling factor strategy exploits the surrounding space, strengthening local search capabilities. The Gaussian barebone mechanism is introduced to balance exploration and exploitation. To effectively cope with intricate constraints, a dynamic $\alpha$-level comparison strategy is incorporated into the individual update stage of the ESE-MSJS. Experimental results demonstrate that ESE-MSJS outperforms state-of-the-art algorithms regarding accuracy, feasibility, and stability, proving to be an effective method for multi-UAV cooperative path planning in complex environments. IEEE

关键词： Heuristic algorithms

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Adaptive PI Control Based Stability Margin Configuration of Aircraft Control systems with Unknown System Parameters and Time Delay

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Journal of systems Science & Complexity 2024年第4期37卷 1507-1525页

作者： ZHANG Zhibing ZHOU Dapeng WANG Yeguang GAO Wanxin ZHANG Yanjun AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The stability margin is a vital indicator for assessing the safety level of aircraft control *** should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver *** stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer ***,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control *** address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is *** developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency ***,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

关键词： Adaptive control aircraft control parameter uncertainty stability margin configuration

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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Science China(Information Sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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Asymptotic Output Tracking Control of a Class of Linear systems by Finite-and-Quantized Output Feedback

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无人系统（英文） 2024年第2期12卷 249-260页

作者： Jian Guo Yanjun Zhang Ji-Feng Zhang Key Lab of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematics Sciences University of Chinese Academy of SciencesBejing 100149China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

This paper presents a novel finite-and-quantized output feedback asymptotic tracking control method for a general class of continuous-time linear time-invariant ***,we construct a finite quantizer with time-varying thresholds and design a pole placement control law that exclusively utilizes the finite-and-quantized output signal and an external reference ***,we establish the boundedness of all closed-loop signals and prove the asymptotic convergence of the output tracking error to *** proposed method combines the advantages of classical pole placement control technique and finite quantization feedback *** not only reduces the requirement for feedback information compared with existing tracking control methods but also effectively handles unstable poles and zeros in controlled systems,thereby achieving asymptotic output ***,we provide a representative example to validate the effec-tiveness and new features of our proposed method.

关键词： Continuous-time asymptotic output tracking pole placement control quantized-output feedback

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RoG-SAM: A Language-Driven Framework for Instance-Level Robotic Grasping Detection

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IEEE Transactions on Multimedia 2025年 27卷 3057-3068页

作者： Mei, Yunpeng Sun, Jian Peng, Zhihong Deng, Fang Wang, Gang Chen, Jie Beijing Institute of Technology State Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Tongji University Department of Control Science and Engineering Shanghai201804 China

Robotic grasping is a crucial topic in robotics and computer vision, with broad applications in industrial production and intelligent manufacturing. Although some methods have begun addressing instance-level grasping, most remain limited to predefined instances and categories, lacking flexibility for open-vocabulary grasp prediction based on user-specified instructions. To address this, we propose RoG-SAM, a language-driven, instance-level grasp detection framework built on Segment Anything Model (SAM). RoG-SAM utilizes open-vocabulary prompts for object localization and grasp pose prediction, adapting SAM through transfer learning with encoder adapters and multi-head decoders to extend its segmentation capabilities to grasp pose estimation. Experimental results show that RoG-SAM achieves competitive performance on single-object datasets (Cornell and Jacquard) and cluttered datasets (GraspNet-1Billion and OCID), with instance-level accuracies of 91.2% and 90.1%, respectively, while using only 28.3% of SAM's trainable parameters. The effectiveness of RoG-SAM was also validated in real-world environments. © 1999-2012 IEEE.

关键词： Robot vision

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Detachment Behavior of Gecko Toe in Functional Strategies for Bionic Toe

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Journal of Bionic Engineering 2024年第2期21卷 707-717页

作者： Qingfei Han Wei Wang Huan Shen Xincheng Feng Haoran Zhang Qian Li Yi Sun Huapeng Wu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of Technology53850LappeenrantaFinland State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their *** setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific *** majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the *** these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this *** specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 ***,it was observed that the toe assumed a"U"-shaped structure upon complete ***,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel *** the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential ***,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also *** our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe *** data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.

关键词： Gecko toes Detachment behavior Finite element analysis Gecko-inspired toe

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Photoelectric intelligent Detection Platform Based on Multifunctional Edge Computing Equipment 43

Photoelectric Intelligent Detection Platform Based on Multif...

引用

43rd Chinese Control Conference, CCC 2024

作者： Xu, Qianjing Chen, Wenjie Xue, Zhijun State Key Lab of Intelligent Control and Decision of Complex Systems Beijing10081 China Beijing Institute of Technology School of Automation Beijing100081 China

ISBN: (纸本)9789887581581

In order to study to design a photoelectric intelligent platform based on multifunctional edge computing equipment by using photoelectric detection equipment TC505C, RK-Series Development Kits computing platform and Nvidia Jetson Series. The photoelectric intelligent platform can be used to run multiple target detection algorithms after design and implementation. Completed as follows. First of all, after the first stage of the photoelectric intelligent platform is completed, the host computer can establish communication with the photoelectric detection equipment, carry out automatic or manual servo control on the photoelectric detection equipment, switch its visible and infrared field of view and view it in real time through the monitor, and realize simple tracking function through the image processing box. Secondly, after the second stage of the photoelectric intelligent platform is built, under the premise of ensuring the normal availability of servo function, a variety of target detection algorithms can be debugged on multifunctional edge computing equipment. Overall, this paper uses the modular design concept to design, debug and implement the system in stages. Pay attention to the synchronous debugging of hardware and software functions of each module to ensure the stability of each module. Finally completed the design goals of each stage. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Program debugging

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Progress on intelligent metasurfaces for signal relay,transmitter,and processor

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Light(Science & Applications) 2025年第4期14卷 886-901页

作者： Chao Qian Longwei Tian Hongsheng Chen ZJU-UIUC Institute Interdisciplinary Center for Quantum InformationState Key Laboratory of Extreme Photonics and InstrumentationZhejiang UniversityHangzhouChina ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab.of Advanced Micro/Nano Electronic Devices&Smart Systems of ZhejiangZhejiang UniversityHangzhouChina Jinhua Institute of Zhejiang University Zhejiang UniversityJinhuaChina Shanghai Key Laboratory of Navigation and Location-Based Services Shanghai Jiao Tong UniversityShanghaiChina

Pursuing higher data rate with limited spectral resources is a longstanding topic that has triggered the fast growth of modern wireless communication ***,the massive deployment of active nodes to compensate for propagation loss necessitates high hardware expenditure,energy consumption,and maintenance cost,as well as complicated network interference *** metasurfaces,composed of a number of subwavelength passive or active meta-atoms,have recently found to be a new paradigm to actively reshape wireless communication environment in a green way,distinct from conventional works that passively adapt to the *** this review,we offer a unified perspective on how intelligent metasurfaces can facilitate wireless communication in three manners:signal relay,signal transmitter,and signal *** start by the basic modeling of wireless channel and the evolution of metasurfaces from passive,active to intelligent *** with various deep learning algorithms,intelligent metasurfaces adapt to cater for the ever-changing environments without human ***,we overview specific experimental advancements using intelligent *** conclude by identifying key issues in the practical implementations of intelligent metasurfaces,and surveying new directions,such as gain metasurfaces and knowledge migration.

关键词： gain metasurfaces intelligent metasurfaces signal transmitter signal processor active nodes signal relay wireless communication wireless communication techniqueshoweverthe

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Learning to Grasp through World Models with Backward Prediction 43

Learning to Grasp through World Models with Backward Predict...

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43rd Chinese Control Conference, CCC 2024

作者： Wang, Shuze Yuan, Yetian Mei, Yunpeng Sun, Jian Wang, Gang Beijing Institute of Technology State Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China

ISBN: (纸本)9789887581581

In the era of the fourth industrial revolution, the paradigm of intelligent manufacturing has ascended as a pivotal driver for future advancements. The combination of intelligent manufacturing with reinforcement learning offers significant benefits and opportunities. However, applying reinforcement learning in practical settings faces challenges due to sampling efficiency. Recently, model-based reinforcement learning algorithms have demonstrated higher sample efficiency. In this research, we introduce an enhanced version of the Dreamer algorithm and devise a system dedicated to mastering the tasks of picking and placing through the limited data collected. The improved algorithm addresses the issue of low sample efficiency and proves to be exceptionally effective in pixel-based tasks associated with high-dimensional state spaces. To corroborate the efficacy of the proposed algorithm, we evaluate the algorithm on a simulation environment of a production line for robotic arm operations developed in Cop-peliasim. The merits of the augmented algorithm are further corroborated through its performance in complex DeepMind control tasks. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Smart manufacturing

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