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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Design of a novel flexible assistive hand exoskeleton

Design of a novel flexible assistive hand exoskeleton

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Guotao Li Long Cheng Zhengrun Gao Jilong Lu Yanjiang Zhao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China The National Clinical Research Center for Aging and Medicine Fudan University Shanghai China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin China Intelligent Machine Institute Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781665465373

Hand paralysis caused by stroke, spinal cord injury, or neurological trauma has a significant impact on the independence and quality of life of the patients. The hand exoskeleton can provide hand assistance and improve the patient’s grasp. In this article, a novel wearable flexible hand exoskeleton is proposed to assist users in activities of daily life. To create a simple and lightweight assistive hand exoskeleton, 3D printing is used to manufacture most of the components, and a remote drive system is designed to reduce the weight of the hand exoskeleton. A ball pair device and a slider device are used to ensure the freedom of the thumb and the adaptability of the hand exoskeleton to different hand sizes. Finally, the experiments are conducted to verify that the hand exoskeleton can achieve motion assistance.

关键词： Exoskeletons Thumb Metals Stroke (medical condition) Three-dimensional printing Motion capture Paralysis

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Discretizing Continuous Action Space with Unimodal Probability Distributions for On-Policy Reinforcement Learning

arXiv

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arXiv 2024年

作者： Zhu, Yuanyang Wang, Zhi Zhu, Yuanheng Chen, Chunlin Zhao, Dongbin The Department of Control Science and Intelligent Engineering School of Management and Engineering Nanjing University Nanjing210093 China The Research Center for Novel Technology of Intelligent Equipment Nanjing University Nanjing210093 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

For on-policy reinforcement learning, discretizing action space for continuous control can easily express multiple modes and is straightforward to optimize. However, without considering the inherent ordering between the discrete atomic actions, the explosion in the number of discrete actions can possess undesired properties and induce a higher variance for the policy gradient estimator. In this paper, we introduce a straightforward architecture that addresses this issue by constraining the discrete policy to be unimodal using Poisson probability distributions. This unimodal architecture can better leverage the continuity in the underlying continuous action space using explicit unimodal probability distributions. We conduct extensive experiments to show that the discrete policy with the unimodal probability distribution provides significantly faster convergence and higher performance for on-policy reinforcement learning algorithms in challenging control tasks, especially in highly complex tasks such as Humanoid. We provide theoretical analysis on the variance of the policy gradient estimator, which suggests that our attentively designed unimodal discrete policy can retain a lower variance and yield a stable learning process. © 2024, CC BY.

关键词： Contrastive Learning

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Algorithm design of traffic incident automatic detection based on mobile detection

Algorithm design of traffic incident automatic detection bas...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Zi Zhang Xiaoli Lin Bin Hu Communications Commission of Guangzhou Municipality Guangzhou Communication Information Construction Investment and Operation Company Limited Guangzhou China Transportation Management General Station of Guangzhou Haizhu Guangzhou China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy and Sciences Beijing China

Most researches of traffic incident auto-detection are based on the data from fixed detectors, which are limited by costs and position. In order to resolve this problem, existing algorithms of traffic incident automatic detection are analyzed and compared, and an algorithm of traffic incident auto-detection are provided based on mobile-detection technology. The traffic data are grouped in 5-min intervals, analyzed by a three-layer BP neural network, and utilized for traffic incident detection. 16 traffic incidents of different locations and different levels are modeled in the simulation experiment based on VISSIM, and detection rate, false alarm rate and average detection time are adopted as indicators to evaluate the algorithm. Finally, the algorithm is proved to be effective and applicable in practice.

关键词： Three dimensional displays Bayesian methods Detectors

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Defining digital quadruplets in the cyber-physical-social space for parallel driving

arXiv

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arXiv 2020年

作者： Liu, Teng Xing, Yang Chen, Long Cao, Dongpu Wang, Fei-Yue Vehicle Intelligence Pioneers Inc Shandong Qingdao266109 China Qingdao Academy of Intelligent Industries QingdaoShandong266109 China Department of Mechanical and Mechatronics Engineering University of Waterloo N2L 3G1 Canada State Key Laboratory of Management and Control for Complex System Institute of Automation Beijing China

Parallel driving is a novel framework to synthesize the vehicle intelligence and transport automation. This article aims to define the digital quadruplets in parallel driving. In the cyber-physical-social systems (CPSS), based on the ACP method, the names of the digital quadruplets are first given, which are descriptive, predictive, prescriptive and real vehicles. The objectives of the three virtual digital vehicles are interacting, guiding, simulating and improving with the real vehicles. Then, the three virtual components of the digital quadruplets are introduced in detail and their applications are also illustrated. Finally, the real vehicles in parallel driving system and the research process of the digital quadruplets are depicted. The presented digital quadruplets in parallel driving are expected to make the future connected automated driving safety, efficiently and synergistically. Copyright © 2020, The Authors. All rights reserved.

关键词： Vehicles

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Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM ...

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Shuangshuang Han Liuqing Yang Xiang Cheng Shichao Chen Fenghua Zhu Zhongdong Yu Haitao Xie Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Electronics Engineering and Computer Science Peking University Guang Zhou Communication Information Construction Investment and Operation Co.Ltd.

Multiple-Input Multiple-Output- Orthogonal Frequency Division Multiplexing(MIMO-OFDM) is adopted to vehicular networks to increase the capacity,reliability and *** this paper,iterative demodulation and decoding algorithms are studied to approach the capacity of MIMOOFDM vehicular *** analysing the drawbacks of the Gaussian approximation on the interference cancellation,NonGaussian approximation is proposed to enhance the performance of interference cancellation based detectors with large *** results demonstrate that the proposed non-Gaussian algorithm can achieve a significant performance gain over existing ones with high order constellations.

关键词： Gaussian Non-Gaussian Approximation Iterative Receiver for MIMO-OFDM Vehicular Networks

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Adaptive Neural Network control for a Lower-Limb Exoskeleton using Variable Stiffness Transferring

Adaptive Neural Network Control for a Lower-Limb Exoskeleton...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Longbin Zhang Yingbai Hu Hang Su Jiehao Li Salih Ertug Ovur KTH MoveAbility Lab and KTH BioMEx Center KTH Royal Institute of Technology Stockholm Sweden Technical University of Munich Munich Germany Politecnico di Milano Milano Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Lower-limb exoskeletons are increasingly used in gait assistance applications to assist patients with locomotive disorders in rehabilitation and daily life. To provide assistance based on the user's variable joint stiffness with human-like characteristics is a growing and challenging field. This paper proposed an adaptive controller for a lower-limb exoskeleton with time-varying delay using variable stiffness transferring strategy. Neural network compensation was applied to estimate the nonlinearity caused by the time-varying delay and the model uncertainties in the lower-limb exoskeleton systems. To compensate for the delay, an integral Lyapunov function was introduced and an adaptive Lyapunov-based control structure was constructed. In the controller design, a variable stiffness transferring strategy was integrated and the stiffness was transferred from an able-bodied individual estimated with muscle forces and musclotendinous stiffness. By utilizing the proposed adaptive neural network control strategy and adaptive Lyapunov-based control structure, the global stability of lower-limb exoskeleton system was guaranteed and the tracking errors converged to the zero. The proposed control strategy was validated on 2-DOFs knee and ankle lower limb exoskeleton in simulation, demonstrating effective results in trajectories tracking, and thus is crucial for determining strategies for exoskeleton control.

关键词： Exoskeletons Robots Muscles Adaptive systems Force Mathematical model Mechatronics

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Social manufacture cloud mode in high-end apparel, footwear and hats

Social manufacture cloud mode in high-end apparel, footwear ...

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World Congress on intelligent control and Automation (WCICA)

作者： Xiuqing Shang Baoli Su Xiwei Liu Gang Xiong Zengbo You The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Chinese Academy of Sciences Cloud Computing Center Dongguan Guangdong Province China Beijing Engineering Research Center of Intelligent Systems and Technology

This paper expounds the high-end apparel footwear and hats manufacture industry society mode of cloud services, achieve consumers actively participate in the high-end apparel, footwear and hats industry of mass customization services. Through social production theory and the combination of cloud computing services, use many kinds of 3D technology, new process technology of cooperative management, e-commerce, logistics and wisdom dynamic value chain analysis and so on the many kinds of technologies, constructed with size and cost of mass production, customization of new clothing, footwear and hats business model, and implements all participate in the design, all involved in manufacture, and everyone involved for “a new type of manufacture and service mode, will effectively drive the transformation and upgrading of industries, and bring new economic growth.

关键词： Business Collaboration Clothing Crowdsourcing Three-dimensional displays Computational modeling

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Review on Development of Smart Education

Review on Development of Smart Education

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Wanruo Shi Xiwei Liu Xiaoyan Gong Xiaojie Niu Xinzhu Wang Sifeng Jing Hao Lu Nan Zhang Jie Luo Faculty of Education Beijing Normal University Beijing China Institute of Smart Education Qingdao Academy of Intelligent Industries Qingdao China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Chinese Association of Automation Beijing China The State Key Laboratory of Software Development Environment Beihang University Beijing China

Smart education is leading the development direction of Chinese education informatization and becoming a main theme of education development in the era of which technology changes education. There are seven main branches of smart education, namely intelligent Tutoring system (ITS), smart campus, Big Data in Education (BDE), knowledge graph, educational robots, virtual teachers, and personalized education. Based on literature survey and market research, this paper gives a comprehensive overview of the research and application of smart education from above seven aspects and proposes its development based on the status of smart education development.

关键词： Education Big Data Data mining Market research Analytical models Learning (artificial intelligence) Data models

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Webly Supervised Knowledge Embedding Model for Visual Reasoning

Webly Supervised Knowledge Embedding Model for Visual Reason...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Wenbo Zheng Lan Yan Chao Gou Fei-Yue Wang School of Software Engineering Xi'an Jiaotong University The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences School of Intelligent Systems Engineering Sun Yat-sen University

ISBN: (数字)9781728171685

ISBN: (纸本)9781728171692

Visual reasoning between visual image and natural language description is a long-standing challenge in computer vision. While recent approaches offer a great promise by compositionality or relational computing, most of them are oppressed by the challenge of training with datasets containing only a limited number of images with ground-truth texts. Besides, it is extremely time-consuming and difficult to build a larger dataset by annotating millions of images with text descriptions that may very likely lead to a biased model. Inspired by the majority success of webly supervised learning, we utilize readily-available web images with its noisy annotations for learning a robust representation. Our key idea is to presume on web images and corresponding tags along with fully annotated datasets in learning with knowledge embedding. We present a two-stage approach for the task that can augment knowledge through an effective embedding model with weakly supervised web data. This approach learns not only knowledge-based embeddings derived from key-value memory networks to make joint and full use of textual and visual information but also exploits the knowledge to improve the performance with knowledge-based representation learning for applying other general reasoning tasks. Experimental results on two benchmarks show that the proposed approach significantly improves performance compared with the state-of-the-art methods and guarantees the robustness of our model against visual reasoning tasks and other reasoning tasks.

关键词： Visualization Cognition Knowledge based systems Task analysis Knowledge engineering Modulation Robustness

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