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arXiv 2021年

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Ministry of Education Beijing100081 China School of Electronic and Information Engineering Tongji University Shanghai200082 China

This note studies the distributed non-convex optimization problem with non-smooth regularization, which has wide applications in decentralized learning, estimation and control. The objective function is the sum of different local objective functions, which consist of differentiable (possibly non-convex) cost functions and non-smooth convex functions. This paper presents a distributed proximal gradient algorithm for the non-smooth non-convex optimization problem over time-varying multi-agent networks. Each agent updates local variable estimate by the multi-step consensus operator and the proximal operator. We prove that the generated local variables achieve consensus and converge to the set of critical points with convergence rate O(1/T). Finally, we verify the efficacy of proposed algorithm by numerical simulations. © 2021, CC BY.

关键词： Time varying networks

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Decentralized Game-based Auction Algorithm for Scheduling Robotic Chargers to Service EVs with Uncertain Demands

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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A Two-level Adaptive Target Recognition and Tracking Method Based on Vision for Multi-robot System

A Two-level Adaptive Target Recognition and Tracking Method ...

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IEEE International Conference on Robotics and Biomimetics

作者： Liang Ren Zhiqiang Cao Min Tan Peng Zhao Xuechao Chen State Key Laboratory of Management and Control for Complex Systems University of Chinese Academy of Sciences Beijing China The 21st Research Institute of China Electronics Technology Group Corporation Shanghai China Beijing Advanced Innovation Center for Intelligent Robots and Systems BIT Beijing China

The vision-based target recognition and tracking have received much attention in the field of robotics. Existing methods mainly focus on the vision perception of individual robot with a single view, however, the performance is susceptible to illumination and occlusion. Multi-robot collaborative perception provides a potential solution to deal with the limitation of single-view observation, however, the challenging of environmental adaptability for multi-robot collaborative decision still remains unsolved. To solve this problem, this paper proposes a two-level adaptive target recognition and tracking method based on vision for multi-robot system. The problem of multi-robot target recognition and tracking is solved under a two-level framework, which contains the features fusion level of individual robot and the cooperation level of multi-robot system. In the first level, the features measuring results that influence the visual perception of individual robot are fused, while the second level combines the voting of each robot together to determine the target for multi-robot system. Both the features measuring weights and robots voting weights are adaptively updated according to their evaluation, which lead to a beneficial result where the features and robots with higher accuracy play major roles in the first and second levels, respectively. Therefore, a good adaptability to the environments can be guaranteed. The experimental results show that the proposed approach can realize the coordination of multi-robot system in target recognition and tracking with an effective performance.

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A Cyclic Small Phase Theorem for MIMO LTI systems*

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IFAC-PapersOnLine 2023年第2期56卷 1883-1888页

作者： Chao Chen Wei Chen Di Zhao Jianqi Chen Li Qiu Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China Department of Mechanics and Engineering Science & State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Control Science and Engineering & Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper introduces a brand-new phase definition called the segmental phase for multi-input multi-output linear time-invariant systems. The underpinning of the definition lies in the matrix segmental phase which, as its name implies, is graphically based on the smallest circular segment covering the matrix normalized numerical range in the unit disk. The matrix segmental phase has the crucial product eigen-phase bound, which makes itself stand out from several existing phase notions in the literature. The proposed bound paves the way for stability analysis of a cyclic feedback system consisting of multiple subsystems. A cyclic small phase theorem is then established as our main result, which requires the loop system phase to lie between -π and π. The proposed theorem complements the celebrated small gain theorem.

关键词： Small phase theorem segmental phase cyclic feedback systems stability analysis lead-lag compensation

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The Smart Street Lighting System Based on NB-IoT

The Smart Street Lighting System Based on NB-IoT

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Chinese Automation Congress

作者： Shichao Chen Shuangshuang Han Gang Xiong Fei-Yue Wang Jia Xu Kun Wang Macau University of Science and Technology Chinese Academy of Sciences Macau China The Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing University of Chemical Technology Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences The Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries The State Key laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Qingdao China Beijing University of Chemical Technology Beijing China

With the development of communication technology, in order to meet the smart city's demand for intelligent infrastructure, the smart street lighting system based on NB-IoT is an effective method to realize the goal. This paper elaborates on the smart street lighting system's architecture, including the perception and control layer, the transport layer, the platform layer and the application layer. In addition, the actual system is built to verify. This system uses STM32 to build the perception and controller, and relies on China Telecom's NB-IoT communication network for the data transmission, finally using the IoT management platform-Huawei OceanConnect- to implement the connection management, the device management, the data calculation and the remote control functions. This system verifies the feasibility of the smart street lighting system based on NB-IoT technology, which provides the reference for the promotion and application. It is expected to provide intelligent, diversified, efficient and economical services for the smart cities.

关键词： Smart street lighting system NB-IoT IoT Smart city

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Exponentially Convergent Algorithm Design for Constrained Distributed Optimization via Non-smooth Approach

arXiv

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arXiv 2020年

作者： Li, Weijian Zeng, Xianlin Liang, Shu Hong, Yiguang Department of Automation University of Science and Technology of China HefeiAnhui230027 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing100083 China Institute of Artificial Intelligence University of Science and Technology Beijing Beijing100083 China

We consider minimizing a sum of non-smooth objective functions with set constraints in a distributed manner. As to this problem, we propose a distributed algorithm with an exponential convergence rate for the first time. By the exact penalty method, we reformulate the problem equivalently as a standard distributed one without consensus constraints. Then we design a distributed projected subgradient algorithm with the help of differential inclusions. Furthermore, we show that the algorithm converges to the optimal solution exponentially for strongly convex objective functions. Copyright © 2020, The Authors. All rights reserved.

关键词： Constrained optimization

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Synchronization in complex networks and its application - A survey of recent advances and challenges

Synchronization in complex networks and its application - A ...

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作者： Tang, Yang Qian, Feng Gao, Huijun Kurths, Jürgen Potsdam Institute for Climate Impact Research Potsdam14473 Germany Institute of Physics Humboldt University of Berlin Berlin12489 Germany Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China Institute for Complex Systems and Mathematical Biology University of Aberdeen AberdeenAB24 3UE United Kingdom Department of Control Theory Nizhny Novgorod State University Gagarin Avenue 23 Nizhny Novgorod606950 Russia King Abdulaziz University Jeddah21589 Saudi Arabia

complex networks have, in recent years, brought many innovative impacts to large-scale systems. However, great challenges also come forth due to distinct complex situations and imperative requirements in human life nowadays. This paper attempts to present an overview of recent progress of synchronization of complex dynamical networks and its applications. We focus on robustness of synchronization, controllability and observability of complex networks and synchronization of multiplex networks. Then, we review several applications of synchronization in complex networks, especially in neuroscience and power grids. The present limitations are summarized and future trends are explored and tentatively highlighted. © 2014 Elsevier Ltd. All rights reserved.

关键词： Synchronization

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Real-time In-situ Defect Detection in 3D Printing of Continuous Fiber-Reinforced Composites

Real-time In-situ Defect Detection in 3D Printing of Continu...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Zhijian Yue Zhen Shen Xiangyang Dong Qihang Fang Weixing Wang Xisong Dong Gang Xiong Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Intelligent Manufacturing Center Qingdao Academy of Intelligent Industries Qingdao China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China State Key Laboratory for Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350349252

ISBN: (纸本)9798350349269

With the development of continuous fiber-reinforced composites (CFRCs) 3D printing technology, timely, efficient and accurate detection of fiber path defects is essential for ensuring product quality and performance. However, challenges still need to be addressed in this field, such as inadequate training data coverage and the complexity of fiber path structures. These factors hinder the capability of traditional methods to accurately assess the status of printed products. Therefore, developing accurate and robust fiber path defect detection techniques is crucial for CFRCs 3D printing technology. In this paper, we propose a precise detection method for fiber path defects in CFRCs 3D printing using the YOLOv7 object detection model combined with a Squeeze-and-Excitation (SE) attention mechanism. By introducing the SE attention mechanism, we enhance the perception capability of the YOLOv7 model for crucial features, thereby improving the accuracy of fiber path defect detection. The experimental results show that the YOLOv7 model, when augmented with an attention mechanism, achieves an average accuracy of 93.9% in identifying fiber path defects during the printing process. Compared to models without this attention mechanism, the results show that there is 10.7% increase, with a notably enhanced learning capacity during the training phase, which substantiates the efficacy and practicality of the proposed approach.

关键词： Training Solid modeling Accuracy Attention mechanisms Training data Three-dimensional printing Real-time systems Quality assessment Optical fiber testing Defect detection

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Exploring the Economic Feasibility of Advanced Air Mobility in the Early Stages

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年第5期9卷 4826-4830页

作者： Jingqiu Guo Long Chen Lingxi Li Xiaoxiang Na Ljubo Vlacic Fei-Yue Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Purdue School of Engineering and Technology Indiana University–Purdue University Indianapolis (IUPUI) Indianapolis IN USA Department of Engineering University of Cambridge Cambridge U.K. Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith University Nathan QLD Australia State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Advanced Air Mobility (AAM) envisages a sustainable, safe, convenient, and affordable air transport system. In socio-technical transition of AAM, there are a number of trade-offs in ecosystem that need to be studied. Three perspectives on economic feasibility are explored: first, based on history of VTOL services and value of time estimates, we discuss whether AAM can provide customers with competitive mobility services; second, what are the stakeholders’ insights on the deployment of AAM; last, the experience in the development of autonomous driving technology, such as parallel intelligence, can inform future AAM research.

关键词： Active appearance model Costs Economics Transportation Helicopters Aircraft propulsion Public transportation

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MatchMesh: Knowledge-based 3D Point Cloud Meshing Using Divide-and-conquer Deformation

MatchMesh: Knowledge-based 3D Point Cloud Meshing Using Divi...

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IEEE International Conference on Networking, Sensing and control

作者： Ying Tang Shengtao Sun Ben Wu Rowan University Glassboro USA State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China Rowan University Glassboro NJ USA

ISBN: (数字)9781728168555

ISBN: (纸本)9781728168562

The reconstruction of surface mesh from point cloud is compute-intensive but also very important step in the remanufacturing and personalization industries. With more 3D scanners providing lower cost and higher resolution, further detailed point clouds can be gathered without so much effort as before. In manufacturing, there are databases which contain the origin 3D design models of the products. How to utilize the design model data for swift production of related products remains a problem for remanufacturing and customization. In order to develop a knowledge-based way of handling this problem, editing or deforming an existing mesh to match the target is an effective way of easing the workload. In this paper, we introduce a divide-and -conquer process which segments the depth scan data and then find the best match in the database as its source of deformation. The segmentation is performed on 3D point level using global features extracted by 3D CNN. After that we find best match to our knowledge with the same features to acquire a fast meshing of the target object by deforming the existing parts from the match. The deformation of parts are being done sequentially. For further performance improvement, we present a deformation training method employing transfer learning on segment editing process.

关键词： Training Surface reconstruction Three-dimensional displays Databases Knowledge based systems Feature extraction Strain

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