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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

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Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG Zeng-Guang HOU Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

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Organizational Management using Software-defined Robots based on Smart Contracts

Organizational Management using Software-defined Robots base...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Ni, Xiaochun Zeng, Shuai Han, Xuan Yuan, Yong Wang, Fei-Yue 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 Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Research Center of Military Computational Experiments and Parallel Systems National University of Defense Technology Changsha China

ISBN: (纸本)9781538644522

With the rapid development of social media, fast transition of organizational management modes, as well as the increasing security risks caused by human intervention and operations, the existing organizational management systems suffer a severe problem of lowered efficiency and security. This motivates our research. In this paper, we strive to design a new solution to this problem, via instantiating the traditional PDCA cycle theory and using software robots powered by blockchain and smart contracts. In our framework, blockchain and smart contracts can guarantee privacy-protected, traceable, and tamper-resistant data access, and can also help reduce the human intervention. Based on the PDCA cycle theory, we propose the PDCA closed-loop ecological chain on the basis of blockchain. We also validate our work in a real-world scenario, and the results can prove the effectiveness of our model. © 2018 IEEE.

关键词： Smart contract

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Fungal diversity notes 1512–1610: taxonomic and phylogenetic contributions on genera and species of fungal taxa

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Fungal Diversity 2022年第6期117卷 1-272页

作者： Ruvishika S.Jayawardena Kevin D.Hyde Song Wang Ya‑Ru Sun Nakarin Suwannarach Phongeun Sysouphanthong Mohamed A.Abdel‑Wahab Faten A.Abdel‑Aziz Pranami D.Abeywickrama Vanessa P.Abreu Alireza Armand AndréAptroot Dan‑Feng Bao Dominik Begerow Jean‑Michel Bellanger Jadson D.P.Bezerra Digvijayini Bundhun Mark S.Calabon Ting Cao Taimy Cantillo João LVRCarvalho Napalai Chaiwan Che‑Chih Chen Régis Courtecuisse Bao‑Kai Cui Ulrike Damm Cvetomir M.Denchev Teodor T.Denchev Chun Y.Deng Bandarupalli Devadatha Nimali Ide Silva Lidiane Ados Santos Nawal K.Dubey Sylvain Dumez Himashi SFerdinandez André L.Firmino Yusufon Gaforov Achala J.Gajanayake Deecksha Gomdola Sugantha Gunaseelan Shucheng‑He Zin H.Htet Malarvizhi Kaliyaperumal Martin Kemler Kezhocuyi Kezo Nuwan DKularathnage Marco Leonardi Ji‑Peng Li Chunfang Liao Shun Liu Michael Loizides Thatsanee Luangharn Jian Ma Hugo Madrid S.Mahadevakumar Sajeewa S.N.Maharachchikumbura Dimuthu S.Manamgoda María P.Martín Niranjan Mekala Pierre‑Arthur Moreau Yan‑Hong Mu Pasouvang Pahoua Dhandevi Pem Olinto L.Pereira Wiphawanee Phonrob Chayanard Phukhamsakda Mubashar Raza Guang‑Cong Ren Andrea C.Rinaldi Walter Rossi Binu C.Samarakoon Milan CSamarakoon Vemuri V.Sarma Indunil C.Senanayake Archana Singh Maria F.Souza Cristina M.Souza‑Motta Adriano A.Spielmann Wenxin Su Xia Tang XingGuo Tian Kasun M.Thambugala Naritsada Thongklang Danushka S.Tennakoon Nopparat Wannathes DingPeng Wei Stéphane Welti Subodini N.Wijesinghe Hongde Yang Yunhui Yang Hai‑Sheng Yuan Huang Zhang Jingyi Zhang Abhaya Balasuriya Chitrabhanu SBhunjun Timur S.Bulgakov Lei Cai Erio Camporesi Putarak Chomnunti Y.S.Deepika Mingkwan Doilom Wei‑Jun Duan Shi‑Ling Han Naruemon Huanraluek EBGareth Jones NLakshmidevi Yu Li Saisamorn Lumyong Zong‑Long Luo Surapong Khuna Jaturong Kumla Ishara S.Manawasinghe Ausana Mapook Wilawan Punyaboon Saowaluck Tibpromma Yong‑Zhong Lu JiYe Yan Yong Wang Center of Excellence in Fungal Research Mae Fah Luang UniversityChiang Rai 57100Thailand School of Science Mae Fah Luang UniversityChiang Rai 57100Thailand Innovative Institute for Plant Health Zhongkai University of Agriculture and EngineeringGuangzhou 510225P.R.China Department of Plant Pathology College of AgricultureGuizhou UniversityGuiyang 550025GuizhouChina Research Center of Microbial Diversity and Sustainable Utilization Chiang Mai UniversityChiang Mai 50200Thailand Department of Biology Faculty of ScienceChiang Mai UniversityChiang Mai 50200Thailand Biotechnology and Ecology Institute Ministry of Agriculture and ForestryP.O.Box:811Vientiane CapitalLao PDR Department of Botany and Microbiology Faculty of ScienceSohag UniversitySohag 82524Egypt Beijing Key Laboratory of Environment-Friendly Management on Fruit Diseases and Pests in North China Institute of Plant ProtectionBeijing Academy of Agriculture and Forestry SciencesBeijing 100097China Departamento de Fitopatologia Universidade Federal de ViçosaViçosaMinas GeraisBrazil Laboratório de Botânica/Liquenologia Instituto de BiociênciasUniversidade Federal de Mato Grosso do SulAvenida Costa e Silva S/NBairro UniversitárioCampo GrandeMato Grosso do Sul CEP 79070-900Brazil College of Agriculture and Biological Sciences Dali UniversityDali 671003YunnanChina Department of Entomology and Plant Pathology Faculty of AgricultureChiang Mai UniversityChiang Mai 50200Thailand Institute of Plant Science and Microbiology Universität HamburgOrganismic Botany and MycologyOhnhorststr.1822609 HamburgGermany CEFE CNRSUniv.MontpellierEPHEIRDINSERM1919Route de Mende34293 Montpellier Cedex 5France Setor de Micologia Departamento de Biociências e TecnologiaInstituto de Patologia Tropical e Saúde PúblicaUniversidade Federal de GoiásRua 235S/NSetor UniversitárioGoiâniaGO CEP:74605-050Brazil Division of Biological Sciences College of Arts and SciencesUniversity of the Philippines Visayas5023 MiagaoIloiloPhilippines CA

This article is the 14th in the Fungal Diversity Notes series,wherein we report 98 taxa distributed in two phyla,seven classes,26 orders and 50 families which are described and *** in this study were collected from Australia,Brazil,Burkina Faso,Chile,China,Cyprus,Egypt,France,French Guiana,India,Indonesia,Italy,Laos,Mexico,Russia,Sri Lanka,Thailand,and *** are 59 new taxa,39 new hosts and new geographical distributions with one new *** 59 new species comprise Angustimassarina kunmingense,Asterina lopi,Asterina brigadeirensis,Bartalinia bidenticola,Bartalinia caryotae,Buellia pruinocalcarea,Coltricia insularis,Colletotrichum fexuosum,Colletotrichum thasutense,Coniochaeta caraganae,Coniothyrium yuccicola,Dematipyriforma aquatic,Dematipyriforma globispora,Dematipyriforma nilotica,Distoseptispora bambusicola,Fulvifomes jawadhuvensis,Fulvifomes malaiyanurensis,Fulvifomes thiruvannamalaiensis,Fusarium purpurea,Gerronema atrovirens,Gerronema favum,Gerronema keralense,Gerronema kuruvense,Grammothele taiwanensis,Hongkongmyces changchunensis,Hypoxylon inaequale,Kirschsteiniothelia acutisporum,Kirschsteiniothelia crustaceum,Kirschsteiniothelia extensum,Kirschsteiniothelia septemseptatum,Kirschsteiniothelia spatiosum,Lecanora immersocalcarea,Lepiota subthailandica,Lindgomyces guizhouensis,Marthe asmius pallidoaurantiacus,Marasmius tangerinus,Neovaginatispora mangiferae,Pararamichloridium aquisubtropicum,Pestalotiopsis piraubensis,Phacidium chinaum,Phaeoisaria goiasensis,Phaeoseptum thailandicum,Pleurothecium aquisubtropicum,Pseudocercospora vernoniae,Pyrenophora verruculosa,Rhachomyces cruralis,Rhachomyces hyperommae,Rhachomyces magrinii,Rhachomyces platyprosophi,Rhizomarasmius cunninghamietorum,Skeletocutis cangshanensis,Skeletocutis subchrysella,Sporisorium anadelphiae-leptocomae,Tetraploa dashaoensis,Tomentella exiguelata,Tomentella fuscoaraneosa,Tricholomopsis lechatii,Vaginatispora favispora and Wetmoreana *** new combin

关键词： 59 New taxa 39 New records Ascomycota Basidiomycota Dothideomycetes Lecanoromycetes Leotiomycetes Sordariomycetes Ustilaginomycotina

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Insights into the ambient temperature startup of an anaerobic ceramic membrane bioreactor with thermally hydrolyzed inoculum for domestic wastewater treatment

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Case Studies in Chemical and Environmental Engineering 2021年 4卷

作者： Rathmalgodage Thejani Nilusha Dawei Yu Junya Zhang Amila Abeynayaka Yuansong Wei State Key Joint Laboratory of Environmental Simulation and Pollution Control Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing 100085 China Environment Technology Section Industrial Technology Institute 363 Bauddhaloka Mawatha Colombo 07 00700 Sri Lanka Department of Water Pollution Control Technology Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing 100085 China University of Chinese Academy of Sciences Beijing 100049 China Graduate School of Environmental and Information Studies Tokyo City University Tsuzuki Ward Yokohama Kanagawa 224-0015 Japan Institute of Energy Jiangxi Academy of Sciences Nanchang 330029 China

An anaerobic ceramic membrane bioreactor (AnCMBR) with thermally-hydrolyzed sewage sludge as the inoculum was started up at the ambient temperature (26.97 ± 4.23 °C) for treating simulated domestic wastewater. The AnCMBR was operated for 60 days under 24 h hydraulic retention time (HRT), 50 days sludge retention time (SRT), and the mean organic loading rate (OLR) of 0.42 kgCODm −3 d −1 . Soluble chemical oxygen demand (SCOD) removal evaluation, volatile fatty acid (VFA), and Alkalinity (ALK) analyses, and the microbial community evaluation by polymerase chain reaction (PCR) were conducted. The reported maximum and mean SCOD removals were 62%, 43.54% ± 11.61 respectively. The total volatile fatty acids/alkalinity (TVFA/ALK) ratio was 0.59 indicating system instability. Microbial community analysis revealed significant shifts during the start-up process. The Bacteroidetes were well acclimatized throughout the start-up. The Firmicutes had suppressed during the start-up while Proteobacteria , Epsilonbacteraeota , Spirochetes phylum newly emerged in the system. The thermally-hydrolyzed inoculum was not established as a successful microbial community for treating domestic wastewater at the ambient conditions in this AnCMBR. The findings provided insights on microbial mechanisms and the basis of anaerobic digestion process instability. In comparison with previous studies, the potential countermeasures to address this were identified as proper selection and frequent addition of inoculum, and process monitoring.

关键词： Anaerobic Ceramic membrane Startup Domestic wastewater Microbial community Membrane bioreactor

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Fault Tolerant control for a Class of Nonlinear System based on Active Disturbance Rejection control and RBF Neural Networks 36

Fault Tolerant Control for a Class of Nonlinear System based...

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第36届中国控制会议

作者： Lushan Zhou Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

ISBN: (纸本)9781538629185

In this paper,a fault tolerant control method based on active disturbance rejection control(ADRC) and radial basis function neural network(RBFNN) is proposed for a class of multi-input-multi-output nonlinear system with actuator faults,components faults and sensor *** proposed method does not rely on the plant *** regarding the faults and plant uncertainties as the disturbance,through the observation of extended state observer and the compensation of feedback control signal,this method achieves the fault tolerance control of the plant with component fault and actuator *** sensor faults,in this work,radial basis function neural network is applied to estimate the real output of the *** this output estimation is utilized by active disturbance rejection control to achieve the fault tolerance of ***,the effectiveness of the proposed method is validated by the simulation results of the three-tank system.

关键词： Fault tolerant control active disturbance rejection control radial basis function neural network

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Hierarchic neighbors embedding

arXiv

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arXiv 2019年

作者： Liu, Shenglan Yu, Yang Liu, Yang Qiao, Hong Feng, Lin Feng, Jiashi School of Computer Science and Technology Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian Liaoning116024 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore

Manifold learning now plays a very important role in machine learning and many relevant applications. Although its superior performance in dealing with nonlinear data distribution, data sparsity is always a thorny knot. There are few researches to well handle it in manifold learning. In this paper, we propose Hierarchic Neighbors Embedding (HNE), which enhance local connection by the hierarchic combination of neighbors. After further analyzing topological connection and reconstruction performance, three different versions of HNE are given. The experimental results show that our methods work well on both synthetic data and high-dimensional real-world tasks. HNE develops the outstanding advantages in dealing with general data. Furthermore, comparing with other popular manifold learning methods, the performance on sparse samples and weak-connected manifolds is better for HNE. Copyright © 2019, The Authors. All rights reserved.

关键词： Topology

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A 3D Display Parallel System: Light Field Re-rendering and Depth Sense Optimization

A 3D Display Parallel System: Light Field Re-rendering and D...

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International Conference on Display technology, ICDT 2018

作者： Pei, Renjing Ma, Kui Wang, Feiyue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences East Zhongguanchun Road No. 95 Haidian District Beijing China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China Parallel Optics Technology Innovation Center Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781510867659

The main benefit of 3D display over 2D display is the obvious ability to create a more lifelike character with high depth sense. However, the limitation of human eye’s visual mechanism, unartful 3D scene structure design, or bad viewing condition always emerges poor depth perception experience or even physiological discomfort during the watching time, which is often sub-optimal for mass high-quality 3D display productions. To solve this problem, we propose a novel 3D display parallel system for depth sense optimization and it empirically guides how the light field should be re-rendered. Structurally, the parallel system consists of an artificial perception measurement system, a display evaluation model and a light field display rendering system, which includes the display calibration, scene capture, light field data processing and display. Particularly, the system can systematically analyze and model various factors affecting the depth sense which learned through the measurement system, like scene structure, objects’ speeds in 3D video and so on. And those sense factors can be personally modified or increased according to the viewer’s demands or technical improvement. Moreover, the light field could be real-time re-rendered, based on some image processing technology, optical flow analysis and object segmentation (or tracking) (especially the one-shot video segmentation). Theory and algorithms are developed and experimental validation results show a superior performance. © 2018 SID.

关键词： Three dimensional displays

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Research on switching model of microgrid with distributed power supply 3

Research on switching model of microgrid with distributed po...

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3rd International Conference on Sustainable and Renewable Energy Engineering, ICSREE 2018

作者： Meiyin, Liu Zhenhua, Lv Beibei, Wu Chongyang, Guo Pingping, Han Renewable Energy Research Center State Key Laboratory of Operation and Control of Renewable Energy and Storage Systems China Electric Power Research Institute Beijing China Power Grid Technology Center Power Science Research Institute of State Grid Jiangsu Electric Power CO. LTD Nanjing China HeFei University of Technology Hefei China

The hybrid microgrid with distributed power supply which includes wind turbine (WT), photovoltaic (PV) inverter and power converter system (PCS), not only could be connected to the power distribution network, but also can operate independently. It is realized switch from grid-connected mode to off-grid mode through the microgrid controller. Whether the microgrid can achieve smooth switching from grid-connected to off-grid has great influence on the safety and stability of the power grid. In order to accurately evaluate the influence of the microgrid switch to the distribution network, it is needed to research on the distributed source modeling technology, and establish an accurate microgrid model. In this paper, using a 400V voltage grade microgrid system with PV, WT and PCS as an example, model the internal equipment and the microgrid control system, and establish a microgrid model for simulation. At the meantime, it carries out the microgrid switch testing, and compare with the measured waveform to verify the accuracy of the model. It is confirmed the accuracy of the microgrid model by the contrast result. © 2018 The Authors, published by EDP Sciences.

关键词： Electric power transmission networks

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Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework

Cooperative Lane Change Motion Planning of Connected and Aut...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhang, Youmin Li, Bai Zhang, Yue Jia, Ning Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China Division of Systems Engineering Center for Information and Systems Engineering Boston University Boston United States Department of Mechanical Industrial and Aerospace Engineering Concordia Institute of Aerospace Design and Innovation Concordia University Montreal Canada Institute of Systems Engineering Tianjin University Tianjin China

ISBN: (纸本)9781538644522

This paper focuses on the scheme of cooperative lane change motion planning of multiple connected and automated vehicles, so as to minimize the time for lane change while penalizing large steering angles subject to hard collision avoidance constraints. Nominally this scheme should be formulated in a centralized way with the constraints of all the vehicles considered simultaneously. In order to facilitate the numerical solving process of this centralized optimization problem, we propose a stepwise computation framework. Starting with a sub-problem with all of the collision avoidance constraints removed, a sequence of sub-problems are defined by adding back the removed collision avoidance constraints gradually until the original problem takes shape in the end. The optimum of one sub-problem is always used as the initial guess when solving the next sub-problem. This iterative process continues until the optimum of the original problem is obtained. In this way, the difficulties in the original centralized problem are divided into multiple parts, and every progress made to address the partial difficulties is 'solidified' by the initial guess. © 2018 IEEE.

关键词： Collision avoidance

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