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The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

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Dual-selective silver recovery strategy by simultaneous adsorption-reduction boosted by in-situ magnetic field

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Green Energy & Environment 2025年第2期10卷 433-440页

作者： Jianran Ren Zhiliang Zhu Yanling Qiu Fei Yu Tao Zhou Jie Ma Jianfu Zhao Research Center for Environmental Functional Materials State Key Laboratory of Pollution Control and Resource ReuseCollege of Environmental Science and EngineeringTongji UniversityShanghai200092China School of Civil Engineering Kashi UniversityKashi844000China College of Marine Ecology and Environment Shanghai Ocean UniversityShanghai201306China

The mainstream silver recovery has problems such as resource waste,weak silver selectivity,and complicated ***,self-propelled magnetic enhanced capture hydrogel(magnetic NbFeB/MXene/GO,MNMGH)was prepared by self-crosslinking encapsulation *** achieved high selectivity(K_(d)=23.31 mL/g)in the acidic range,and exhibited ultrahigh silver recovery capacity(1604.8 mg/g),which greatly improved by 66%with the assistance of in-situ magnetic *** recovered silver crystals could be directly physically exfoliated,without acid/base *** selective sieving effect of adsorption,MNMGH preferentially adsorbed Ag(I),and then selectively reduced to Ag(0),realizing dual-selective *** in-situ magnetic field enhanced selective adsorption by enhancing mass transfer,reactivity of oxygen-containing functional ***,density function theory simulations demonstrated that the in-situ magnetic field could lower the silver reduction reaction energy barrier to enhance the selective ***-drive synergy system(reduction drive,adsorption drive and magnetic drive)achieved ultrahigh silver recovery *** study pioneered an in-situ magnetic field assisted enhancement strategy for dual-selective(adsorption/reduction)recovery of precious metal silver,which provided new idea for low-carbon recovery of noble metal from industrial waste liquids.

关键词： In-situ magnetic field Silver recovery Adsorption-reduction Selectivity Physical separation

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HWD-YOLO:A New Vision-Based Helmet Wearing Detection Method

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Computers, Materials & Continua 2024年第9期80卷 4543-4560页

作者： Licheng Sun Heping Li Liang Wang College of Information Science and Technology Beijing University of TechnologyBeijing100124China Chinese Institute of Coal Science Beijing100013China State Key Laboratory for Intelligent Coal Mining and Strata Control Beijing100013China Engineering Research Center of Digital Community of Ministry of Education Beijing100124China

It is crucial to ensure workers wear safety helmets when working at a workplace with a high risk of safety accidents,such as construction sites and mine *** existing methods can achieve helmet detection in images,their accuracy and speed still need improvements since complex,cluttered,and large-scale scenes of real workplaces cause server occlusion,illumination change,scale variation,and perspective ***,a new safety helmet-wearing detection method based on deep learning is ***,a new multi-scale contextual aggregation module is proposed to aggregate multi-scale feature information globally and highlight the details of concerned objects in the backbone part of the deep neural ***,a new detection block combining the dilate convolution and attention mechanism is proposed and introduced into the prediction *** block can effectively extract deep featureswhile retaining information on fine-grained details,such as edges and small ***,some newly emerged modules are incorporated into the proposed network to improve safety helmetwearing detection performance *** experiments on open dataset validate the proposed *** reaches better performance on helmet-wearing detection and even outperforms the state-of-the-art *** be more specific,the mAP increases by 3.4%,and the speed increases from17 to 33 fps in comparison with the baseline,You Only Look Once(YOLO)version 5X,and themean average precision increases by 1.0%and the speed increases by 7 fps in comparison with the YOLO version *** generalization ability and portability experiment results show that the proposed improvements could serve as a springboard for deep neural network design to improve object detection performance in complex scenarios.

关键词： Object detection deep learning safety helmet wearing detection feature extraction attention mechanism

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GO/MgO/Mg interface mediated strengthening and electromagnetic interference shielding in AZ31 composite

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Journal of Magnesium and Alloys 2023年第10期11卷 3800-3814页

作者： Z.Y.Xu C.F.Fang C.J.Li R.Wang X.P.Zhang J.Tan Y.M.Wang Key Laboratory of Solidification Control and Digital Preparation Technology(Liaoning Province) School of Materials Science and EngineeringDalian University of TechnologyDalian 116024China Faculty of Materials Science and Engineering Kunming University of Science and TechnologyKunming 650093China College of Materials Science and Engineering Chongqing UniversityChongqing 400045China Key Laboratory of Materials Modification by Laser Ion and Electron Beams(Ministry of Education)School of Materials Science and EngineeringDalian University of TechnologyDalian 116023China

More requirements of electromagnetic interference(EMI) shielding performance are put forward for lightweight structural materials due to the development of aerospace and 5G communications. Herein, graphene oxide(GO) decorated with SnO_(2) coating is introduced as reinforcement into AZ31 Mg alloy. During the smelting process, the MgO layer is in situ gernerated at interface between GO and the molten Mg alloy matrix by consuming SnO_(2). In the solid state, such kind of interface structure can improve the GO-Mg interface bonding intensity,also significantly generate stacking faults. The AZ31 composite reinfoced by trace modified GO(0.1 wt%) exhibits high ultimate strength and almost the same elongation with AZ31 alloy. Compared with AZ31 alloy, the yield strength and ultimate tensile strength of composite are increased by 33.5% and 23.7%, respectively. Meanwhile, the multi-level electromagnetic reflection from the multi-layer structure of GO and the interface polarization caused by the MgO mid-layer can significantly improve EMI shielding performance. The appropriate interface design strategy achieves the effect of “two birds with one stone”.

关键词： Metal-matrix composites Mechanical properties EMI shielding Microstructures

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Diminishing ether-oxygen content of electrolytes enables temperature-immune lithium metal batteries

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science China Chemistry 2023年第9期66卷 2700-2710页

作者： Tao Liu Jingnan Feng Zhe Shi Huajun Li Weina Zhao Minglei Mao Xiangzhen Zhu Yong-Sheng Hu Hong Li Xuejie Huang Liquan Chen Liumin Suo Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190China Qingdao Industrial Energy Storage Research Institute Qingdao Institute of Bioenergy and Bioprocess TechnologyChinese Academy of SciencesQingdao 266101China Department of Nuclear Science and Engineering and Department of Materials Science and Engineering Massachusetts Institute of TechnologyCambridgeMA 02139USA Guangzhou Key Laboratory of Environmental Catalysis and Pollution Control Guangdong Key Laboratory of Environmental Catalysis and Health Risk ControlSchool of Environmental Science and EngineeringInstitute of Environmental Health and Pollution ControlGuangdong University of TechnologyGuangzhou 510006China

The reversibility of lithium(Li) metal anodes is highly susceptible to temperature,owing to the aggravated side reactions at high temperatures and serious Li dendrite growth at low *** it is extremely challenging to simultaneously realize the high Li reversibility in both low and high temperature ***,an oxygen-free solvent(n-hexane,HEX) assisted with the hexyl methyl ether and 1 mol L^(-1)lithium bis(fluorosulfonyl)imide is proposed to constitute an electrolyte for temperatureimmune lithium metal *** demonstrates that the HEX not only greatly suppresses the solvent reduction even at high temperatures but also weaken the Li~+-solvent interaction for the facile Li-ion desolvation,leading to high Li Coulombic efficiencies(99.59% at 25℃,99.30%at 60℃ and 98.75% at -30℃) and the dendrite-free Li plating from -30℃ to 60℃.Benefitting from the low density and temperature-immune properties of our electrolyte,the sulfurized polyacrylonitrile(3.8mAh cm^(-2))||Li(60 μm) pouch-cells deliver 278 Wh kg^(-1)energy density and maintain the stable performance over 50 cycles,and retain 248 and 320 Wh kg^(-1) energy density at -30℃ and 60℃,*** work provides a new perspective on the electrolyte design for wide-temperature Li metal batteries.

关键词： wide temperature range oxygen-free solvent dendrite-free Li plating high Coulombic efficiencies lithium metal batteries

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Heterogeneous Image Knowledge Driven Visual Perception

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 255-257页

作者： Lan Yan Wenbo Zheng Fei-Yue Wang IEEE the College of Computer Science and Electronic Engineering Hunan UniversityChangsha 410082China the School of Computer Science and Artificial Intelligence Wuhan University of TechnologyWuhan 430070China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Dear Editor,This letter is concerned with visual perception closely related to heterogeneous *** the huge challenge brought by different image modalities,we propose a visual perception framework based on heterogeneous image knowledge,i.e.,the domain knowledge associated with specific vision tasks,to better address the corresponding visual perception problems.

关键词： Visual visual knowledge

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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science China(Technological sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Covalency triggers high catalytic activity of amorphous molybdenum oxides for oxidative desulfurization

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science China Chemistry 2023年第4期66卷 1211-1220页

作者： Juncong Zou Yan Lin Chunping Yang College of Environmental Science and Engineering Hunan University and Key Laboratory of Environmental Biology and Pollution Control(Hunan University)Ministry of EducationHunan UniversityChangsha 410082China Guangdong Provincial Key Laboratory of Petrochemcial Pollution Processes and Control and School of Environmental Science and EngineeringGuangdong University of Petrochemical TechnologyNaoming 525000China School of Environmental and Chemical Engineering Nanchang Hangkong UniversityNanchang 330063China

Oxidative desulfurization(ODS)is a promising technology to produce clean fuel with requiring superior catalysts to lower kinetic *** most ODS catalysts are based on crystalline transition-metal oxides(TMOs),extraordinary activity also can be achieved with amorphous ***,the origin of the remarkable catalytic activity of the amorphous TMOs remains greatly ***,we found the crucial role of Mo–O covalency in ruling the intrinsic catalytic activity of amorphous molybdenum oxides(MoO_(x)).Experimental and theoretical analysis indicated that the nonequivalent connectivity in the amorphous structure strongly enhanced Mo–O covalency,thereby increasing the content of electrophilic oxygen and nucleophilic molybdenum to favor the MoO_(x)–H_(2)O_(2) *** the boosted Mo–O covalency to improve the flexibility of the charge state,the amorphous MoO_(x)-based composite catalyst(PE-MoO_(x)/S-0.05)exhibited outstanding catalytic activity for ODS of fuel *** turnover frequency(TOF)value of the catalyst(18.63 h^(-1))was almost an order of magnitude higher than that of most reported crystalline MoO_(x)/molecular sieve composite *** in-depth understanding of the origin of the amorphous TMOs activity for ODS provides a valuable reference for developing ODS catalysts.

关键词： amorphous molybdenum oxide oxidative desulfurization covalency

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Cooperative Output Regulation of Heterogeneous Systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

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Journal of Systems science & Complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

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Drosophila Larvae-Inspired Soft Crawling Robot with Multimodal Locomotion and Versatile Applications

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Research 2025年第1期7卷 35-46页

作者： Qin Fang Jingyu Zhang Yinhui He Nenggan Zheng Yue Wang Rong Xiong Zhefeng Gong Haojian Lu State Key Laboratory of Industrial Control and Technology Zhejiang UniversityHangzhou 310027China Institute of Cyber-Systems and Control Zhejiang UniversityHangzhou 310027China Medical School of Zhejiang University Hangzhou 310027China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China Stomatology Hospital School of StomatologyZhejiang University School of MedicineZhejiang Provincial Clinical Research Center for Oral DiseasesKey Laboratory of Oral Biomedical Research of Zhejiang ProvinceCancer Center of Zhejiang UniversityEngineering Research Center of Oral Biomaterials and Devices of Zhejiang ProvinceHangzhou 310000China

Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible ***,most existing soft crawling robots typically exhibit a single-motion mode and lack diverse *** by Drosophila larvae,this paper proposes a compact soft crawling robot(weight,13 g;length,165 mm;diameter,35 mm)with multimodal locomotion(forward,turning,rolling,and twisting).Each robot module uses 4 sets of high-power-density shape memory alloy actuators,endowing it with 4 degrees of motion *** analyze the mechanical characteristics of the robot modules through experiments and simulation *** plug-and-play modules can be quickly assembled to meet different motion and task *** soft crawling robot can be remotely operated with an external controller,showcasing multimodal motion on various material *** a narrow maze,the robot demonstrates agile movement and effective maneuvering around *** addition,leveraging the inherent bistable characteristics of the robot modules,we used the robot modules as anchoring units and installed a microcamera on the robot's head for pipeline *** robot completed the inspection in horizontal,vertical,curved,and branched pipelines,adjusted the camera view,and twisted a valve in the pipeline for the first *** research highlights the robot's superior locomotion and application capabilities,providing an innovative strategy for the development of lightweight,compact,and multifunctional soft crawling robots.

关键词： multimodal locomotion versatile applications Drosophila larvae soft crawling robot weight soft crawling robots shape memory alloy actuators

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