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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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science China(Technological sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Network synchronizability enhancement viaadding antagonistic interactions

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Autonomous intelligent systems 2024年第1期4卷 1-7页

作者： Yue Song Xiaoqin Liu Dingmei Wang Pengfei Gao Mengqi Xue Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai201210China Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghai201210China Department of Control Science and Engineering Tongji UniversityShanghai201210China National Key Laboratory of Autonomous Intelligent Unmanned Systems Tongji UniversityShanghai201210China Lanzhou Longneng Electric Power Technology Company Lanzhou730070China

We discover a“less-is-more”effect that adding local antagonistic interactions(negative edge weights)can enhance the overall synchronizability of a dynamical network *** explain this seemingly counterintuitive phenomenon,a condition is established to identify those edges the weight reduction of which improves the synchronizability index of the underlying *** further reveal that this condition can be interpreted from the perspective of resistance distance and network community *** obtained result is also verified via numerical experiments on a 14-node network and a 118-node *** brings new thoughts and inspirations to the future directions of optimal network design problems.

关键词： Synchronizability Complex network Laplacian matrix Antagonistic interaction

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Distance-Based Subset Selection With a Knee Point for Multi-Objective Optimization 13

Distance-Based Subset Selection With a Knee Point for Multi-...

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Joint 13th International Conference on Soft Computing and intelligent systems and 25th International Symposium on Advanced intelligent systems, SCIS and ISIS 2024

作者： Pang, Lie Meng Ishibuchi, Hisao Southern University of Science and Technology Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen518055 China

ISBN: (纸本)9798350373332

Recently, the use of an unbounded external archive in the design of evolutionary multi-objective optimization (EMO) algorithms has received increasing attention. An important component in the use of an unbounded external archive is its subset selection method used to select a pre-specified number of solutions from the archive. One of the most commonly used subset selection method is distance-based subset selection (DSS) since it is very easy to calculate and can easily scale to many-objective optimization. However, the DSS's selection mechanism usually lead to a small hypervolume value for the selected subset even when the optimal subset with respect to the minimum distance among the selected solutions is obtained. In this paper, we propose a modification to the DSS algorithm by selecting a knee point as the first solution. The knee point is often a solution of interest to decision makers in the absence of preference information. Experimental results show that the inclusion of a knee point generally has a positive effect on improving the hypervolume value of the selected subset. © 2024 IEEE.

关键词： Optimization algorithms

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Performance Evaluation of Evolutionary Multi-Objective Algorithms Using Real-World Problems with an Additional Total Constraint Violation Objective 13

Performance Evaluation of Evolutionary Multi-Objective Algor...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Nan, Yang Ishibuchi, Hisao Shu, Tianye Southern University of Science and Technology Guangdong Provinial Key Laboratory of Brain-inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen518055 China

ISBN: (纸本)9798350308365

In the community of evolutionary multi-objective optimization (EMO), one important issue is the choice of test problems for performance evaluations of EMO algorithms. This is because performance evaluation results of EMO algorithms totally depend on the choice of test problems. This means that the research on new EMO algorithm design is also influenced by the choice of test problems. Recently, researchers have started to use real-world problems for performance evaluation of EMO algorithms. Among them, a real-world problem suite RE has attracted much attention and has been used in many studies. However, most RE problems have been created from real-world constrained problems by using the total constraint violation as an additional objective. That is, the original versions of most RE problems are not unconstrained multi-objective problems. Thus, even when a good solution set is obtained by an EMO algorithm for an RE problem, it can be a poor solution set for its original constrained problem. This is because many well-distributed solutions over the entire Pareto front of the transformed unconstrained problem are usually infeasible solutions of the original constrained problem with some positive total constraint violation values. In this paper, we examine whether good solution sets obtained by EMO algorithms for RE problems are also good solution sets for their original constrained problems. Our experimental results show that good solutions sets for most RE problems include good feasible solution sets for their original constrained problems. However, for a few RE problems, good solution sets obtained by some high performance EMO algorithms do not include good feasible solution sets. Our results show that high-performance EMO algorithms on most RE problems generate good feasible solution sets for their original constrained versions. This observation supports the usefulness of those RE problems as test problems for performance evaluation of EMO algorithms. © 2024 IEEE.

关键词： Optimization algorithms

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Analysis of Algorithm Comparison Results on Real-World Multi-Objective Problems 13

Analysis of Algorithm Comparison Results on Real-World Multi...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Pang, Lie Meng Ishibuchi, Hisao Shang, Ke Southern University of Science and Technology Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen518055 China

ISBN: (纸本)9798350308365

Recently, several real-world multi-objective optimization problem suites have been proposed to facilitate the evaluation of the performance of evolutionary multi-objective optimization (EMO) algorithms. In spite of the importance of using real-world problems to evaluate EMO algorithms, their characteristics are not well understood compared to artificial test problems. Thus, there is a need to examine and understand the challenges posed by these real-world problems. In this study, we attempt to explore the characteristics of the most recently proposed real-world application suite (i.e., RWA suite). Six EMO algorithms are evaluated on the RWA suite, including three classic algorithms and three recently-proposed algorithms. Based on the performance comparison results, we systematically analyze the RWA suite in terms of convergence and diversity difficulties. © 2024 IEEE.

关键词： Optimization algorithms

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Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snake

Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snak...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Lu, Jinxuan Hu, Xinshu Zhu, Xiaoyu Chen, Cheng Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen China Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Shenzhen China Guangzhou China

ISBN: (纸本)9781665481090

Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities. © 2024 IEEE.

关键词： Pneumatics

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Towards Privacy-Aware Causal Structure Learning in Federated Setting

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IEEE Transactions on Big Data 2023年第6期9卷 1525-1535页

作者： Huang, Jianli Guo, Xianjie Yu, Kui Cao, Fuyuan Liang, Jiye Intelligent Interconnected Systems Laboratory of Anhui Province School of Computer Science and Information Engineering Hefei University of Technology Hefei230601 China Key Laboratory of Computational Intelligence and Chinese Information Processing of Ministry of Education School of Computer and Information Technology Shanxi University Taiyuan030006 China

Causal structure learning has been extensively studied and widely used in machine learning and various applications. To achieve an ideal performance, existing causal structure learning algorithms often need to centralize a large amount of data from multiple data sources. However, in the privacy-preserving setting, it is impossible to centralize data from all sources and put them together as a single dataset. To preserve data privacy, federated learning as a new learning paradigm has attached much attention in machine learning in recent years. In this paper, we study a privacy-aware causal structure learning problem in the federated setting and propose a novel federated PC (FedPC) algorithm with two new strategies for preserving data privacy without centralizing data. Specifically, we first propose a novel layer-wise aggregation strategy for a seamless adaptation of the PC algorithm into the federated learning paradigm for federated skeleton learning, then we design an effective strategy for learning consistent separation sets for federated edge orientation. The extensive experiments validate that FedPC is effective for causal structure learning in federated learning setting. © 2023 IEEE.

关键词： Big data

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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FIRE: A Dataset for Feedback Integration and Refinement Evaluation of Multimodal Models 38

FIRE: A Dataset for Feedback Integration and Refinement Eval...

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Li, Pengxiang Gao, Zhi Zhang, Bofei Yuan, Tao Wu, Yuwei Harandi, Mehrtash Jia, Yunde Zhu, Song-Chun Li, Qing Beijing Key Laboratory of Intelligent Information Technology School of Computer Science & Technology Beijing Institute of Technology China State Key Laboratory of General Artificial Intelligence BIGAI China State Key Laboratory of General Artificial Intelligence Peking University China Department of Electrical and Computer System Engineering Monash University Australia Guangdong Laboratory of Machine Perception and Intelligent Computing Shenzhen MSU-BIT University China Department of Automation Tsinghua University China

Vision language models (VLMs) have achieved impressive progress in diverse applications, becoming a prevalent research direction. In this paper, we build FIRE, a feedback-refinement dataset, consisting of 1.1M multi-turn conversations that are derived from 27 source datasets, empowering VLMs to spontaneously refine their responses based on user feedback across diverse tasks. To scale up the data collection, FIRE is collected in two components: FIRE-100K and FIRE-1M, where FIRE-100K is generated by GPT-4V, and FIRE-1M is freely generated via models trained on FIRE-100K. Then, we build FIRE-Bench, a benchmark to comprehensively evaluate the feedback-refining capability of VLMs, which contains 11K feedback-refinement conversations as the test data, two evaluation settings, and a model to provide feedback for VLMs. We develop the FIRE-LLaVA model by fine-tuning LLaVA on FIRE-100K and FIRE-1M, which shows remarkable feedback-refining capability on FIRE-Bench and outperforms untrained VLMs by 50%, making more efficient user-agent interactions and underscoring the significance of the FIRE dataset. © 2024 Neural information processing systems foundation. All rights reserved.

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Experimental implementation of a qubit-efficient variational quantum eigensolver with analog error mitigation on a superconducting quantum processor

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science China(Physics,Mechanics & Astronomy) 2025年第7期Mechanics & Astronomy) .卷 71-78页

作者： Yuwei Ma Weiting Wang Xianghao Mu Weizhou Cai Ziyue Hua Xiaoxuan Pan Dong-Ling Deng Rebing Wu Chang-Ling Zou Lei Wang Luyan Sun Center for Quantum Information Institute for Interdisciplinary Information SciencesTsinghua University Shanghai Qi Zhi Institute Hefei National Laboratory Center for Intelligent and Networked Systems Department of AutomationTsinghua University CAS Key Laboratory of Quantum Information University of Science and Technology of China Beijing National Laboratory for Condensed Matter Physics and Institute of Physics Chinese Academy of Sciences

We experimentally demonstrate a qubit-efficient variational quantum eigensolver(VQE) algorithm using a superconducting quantum processor,employing minimal quantum resources with only a transmon qubit coupled to a high-coherence photonic *** leveraging matrix product states to compress the quantum state representation,we simulate an N+1-spin circular Ising model with a transverse ***,we develop an analog error mitigation approach through zero-noise extrapolation by introducing a precise noise injection technique for the transmon *** a validation,we apply our error-mitigated qubit-efficient VQE in determining the ground state energies of a 4-spin Ising *** results demonstrate the feasibility of performing quantum algorithms with minimal quantum resources while effectively mitigating the impact of noise,offering a promising pathway to bridge the gap between theoretical advances and practical implementations on current noisy intermediate-scale quantum devices.

关键词： qubit-efficient variational quantum eigensolver (VQE) superconducting quantum processor analog error mitigation

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