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7th International Conference on computer and Communications, ICCC 2021

作者： Xin, Chen Xianda, Liu Yiheng, Jiang Chen, Wang Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781665409506

In the industrial control system, in order to solve the problem that the installation of smart devices in a transparent environment are faced with the unknown attack problems, because most of the industrial control equipment to detect unknown risks, Therefore, by studying the security protection of the current industrial control system and the trust mechanism that should be widely used in the Internet of things, this paper presents the abnormal node detection mode based on comprehensive trust applied to the industrial control system scenarios. This model firstly proposes a model, which fuses direct and indirect trust values into current trust values through support algorithm and vector similarity algorithm, and then combines them with historical trust values, and gives the calculation method of each trust value. Finally, a method to determine abnormal nodes based on comprehensive trust degree is given to realize a detection process for all industrial control nodes. By analyzing the real data case provided by Melbourne Water, it is concluded that this model can improve the detection range and detection accuracy of abnormal nodes. It can accurately judge and effectively resist malicious behavior and also have a good resistance to aggression. © 2021 IEEE.

关键词： Anomaly detection

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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An Obstacle Avoidance Path Planning Algorithm for Manipulator in Deep Crate Grasping

An Obstacle Avoidance Path Planning Algorithm for Manipulato...

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2023 China automation Congress, CAC 2023

作者： Yao, Zhuobin Gan, Yahui Han, Zao Gao, Huan Li, Ang School of Automation Southeast University Key Laboratory of Measurement and Control of Systems of Engineering Ministry of Education NanJing China Intel Joint Research Institute on Intelligent Edge Computing Nanjing YingQi Intelligent Technology Co. Ltd. NanJing China

ISBN: (纸本)9798350303759

The deep crate grasping problem is a major challenge for manipulator in industrial applications. In order to solve the issue of deep crate grasping and ensure the path quality of the algorithm, this paper proposes a new hybrid obstacle avoidance planning algorithm based on goal-biased rapidly exploring random tree and improved artificial potential field (RRT-APF). Initially, the algorithm strategizes an efficient trajectory for the working element within the operational area. Subsequently, it dissects this trajectory through sampling, creating a sequence of sub-target points. These points serve as the basis for obstacle avoidance planning within the manipulator's configuration space, mitigating planning complexities. Moreover, the RRT algorithm is employed to address the challenge of local optima within the artificial potential field method. The stochastic nature of the RRT algorithm plays a crucial role in enabling the APF algorithm to break free from local optima. Ultimately, the efficacy of the algorithm is demonstrated through the planning of a path for obstacle avoidance on the DOBOT CR5 manipulator using MATLAB. © 2023 IEEE.

关键词： Trees (mathematics)

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Characteristics of laser-induced breakdown spectroscopy of liquid slag

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Plasma Science and Technology 2024年第2期26卷 86-93页

作者：董长言于洪霞孙兰香李洋刘修业周平黄少文 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's RepublicofChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People's Republic of China Shenyang University of Technology Shenyang 110870People's Republic of China Shenyang Ligong University Shenyang 1i0142People's Republic of China Shandong Iron and Steel Company Ltd. Jinan 271105People's Republic of China

Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-induced breakdown spectroscopy(LIBS), this study examined the effects of slag composition and temperature on the intensity and stability of the LIBS spectra. The experimental temperature was controlled at three levels: 1350℃, 1400℃, and 1450℃. The results showed that slag composition and temperature significantly affected the intensity and stability of the LIBS spectra. Increasing the Fe content and temperature in the slag reduces its viscosity, resulting in an enhanced intensity and stability of the LIBS spectra. Additionally, 42 refined slag samples were quantitatively analyzed for Fe, Si, Ca, Mg, Al, and Mn at 1350℃, 1400℃, and 1450℃.The normalized full spectrum combined with partial least squares(PLS) quantification modeling was used, using the Ca Ⅱ 317.91 nm spectral line as an internal standard. The results show that using the internal standard normalization method can significantly reduce the influence of spectral fluctuations. Meanwhile, a temperature of 1450℃ has been found to yield superior results compared to both 1350℃ and 1400℃, and it is advantageous to conduct a quantitative analysis of the slag when it is in a “water-like” state with low viscosity.

关键词： laser-induced breakdown spectroscopy(LIBS) slag temperature composition viscosity internal standard normalization partial least squares(PLS)

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Optimization of Milling Robot Trajectory Based on Whale Optimization Algorithm 3rd

Optimization of Milling Robot Trajectory Based on Whale Opti...

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3rd International Conference on Artificial Intelligence, Robotics, and Communication, ICAIRC 2023

作者： Zhou, Yang Li, Qingxin Sun, Yong Software College Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9789819721993

In response to the problem of vibration and low work efficiency during robot milling, taking into account the work indicators of milling time and stability, combined with the kinematic constraints of the robotic arm, the time impact optimization problem is transformed into a multi-objective optimization problem. The paper proposes an improved whale optimization algorithm, which introduces a differential mutation strategy to improve the problem of traditional whale algorithms easily getting stuck in local optima. Compared with traditional whale optimization algorithms, the improved whale algorithm significantly improves the convergence speed and accuracy during the milling process. Finally, it is verified by a solid robot. The results showed that the pulse value of the planned trajectory was reduced by up to 99.76%, and the efficiency was improved by 47.62%, effectively avoiding robot vibration during the milling process. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multiobjective optimization

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Boolean matrix compressed sensing

Boolean matrix compressed sensing

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Liu, Qiang Soleymani, Mahdi Mahdavifar, Hessam National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Halıcıoğlu Data Science Institute University of California La Jolla San DiegoCA92093 United States Department of Electrical and Computer Engineering Northeastern University BostonMA02115 United States

ISBN: (纸本)9798350368741

In real-world datasets, leveraging the low-rank and sparsity properties enables developing efficient algorithms across a diverse array of data-related tasks, including compression, compressed sensing, matrix completion, etc. Notably, these two properties often coexist in certain real-world datasets, especially in Boolean datasets and quantized real-valued datasets. To harness the advantages of low-rank and sparsity simultaneously, we adopt a technique inspired by compressed sensing and Boolean matrix completion. Our approach entails compressing a low-rank sparse Boolean matrix by performing inner product operations with a randomly generated Boolean matrix. We then propose a decoding algorithms based on message-passing techniques to recover the original matrix. Our experiments demonstrate superior recovery performance of our proposed algorithms compared to Boolean matrix completion, with equal measurement requirements. © 2025 IEEE.

关键词： Belief Propagation Boolean Matrix Compressed Sensing Matrix Completion

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A Test Suite and An Optimizer for Dietary Nutrition Optimization Problem: From Constrained Many-Objective Perspective

A Test Suite and An Optimizer for Dietary Nutrition Optimiza...

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2023 IEEE Congress on Evolutionary Computation, CEC 2023

作者： Ti, Yaqi Li, Changhe Yang, Shengxiang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9798350314588

With increasing people who suffer from diet-related diseases, providing suggestions for personal daily nutrient-dense intake is highly expected. However, current dietary nutrition models are less precise, and dietary nutrition optimizers usually fail to give satisfactory solutions. Therefore, we construct a constrained many-objective nutrition model with more precise nutrient assessments and a scalable constrained many-objective benchmark set. This test suite has great flexibility in evaluating algorithms' performance on high dimensional search and objective spaces with some feasible region fragments. We also propose a kd-tree based dynamic constrained many-objective evolutionary algorithm to search for customized food combinations according to personal daily consumption and intake preference. Experiments show that our algorithm has better diversity maintenance ability in high dimension space. © 2023 IEEE.

关键词： Nutrition

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The Immense Impact of Reverse Edges on Large Hierarchical Networks

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Engineering 2024年第5期36卷 240-249页

作者： Haosen Cao Bin-Bin Hu Xiaoyu Mo Duxin Chen Jianxi Gao Ye Yuan Guanrong Chen Tamás Vicsek Xiaohong Guan Hai-Tao Zhang MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Intelligent Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Jiangsu Key Laboratory of Networked Collective Intelligence School of MathematicsSoutheast UniversityNanjing 210096China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA Department of Electronic Engineering City University of Hong KongHong Kong 999077China Department of Biological Physics Eötvös UniversityBudapest 1117Hungary MOE Key Laboratory for Intelligent Networks and Network Security School of Automation Science and EngineeringXi’an Jiaotong UniversityXi’an 710049China

Hierarchical networks are frequently encountered in animal groups,gene networks,and artificial engineering systems such as multiple robots,unmanned vehicle systems,smart grids,wind farm networks,and so *** structure of a large directed hierarchical network is often strongly influenced by reverse edges from lower-to higher-level nodes,such as lagging birds’howl in a flock or the opinions of lowerlevel individuals feeding back to higher-level ones in a social *** study reveals that,for most large-scale real hierarchical networks,the majority of the reverse edges do not affect the synchronization process of the entire network;the synchronization process is influenced only by a small part of these reverse edges along specific *** surprisingly,a single effective reverse edge can slow down the synchronization of a huge hierarchical network by over 60%.The effect of such edges depends not on the network size but only on the average in-degree of the involved *** overwhelming majority of active reverse edges turn out to have some kind of“bunching”effect on the information flows of hierarchical networks,which slows down synchronization *** finding refines the current understanding of the role of reverse edges in many natural,social,and engineering hierarchical networks,which might be beneficial for precisely tuning the synchronization rhythms of these *** study also proposes an effective way to attack a hierarchical network by adding a malicious reverse edge to it and provides some guidance for protecting a network by screening out the specific small proportion of vulnerable nodes.

关键词： Synchronizability Large hierarchical networks Reverse edges Information flows Complex networks

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Learning Subsystem Dynamics in Nonlinear systems via Port-Hamiltonian Neural Networks

arXiv

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arXiv 2024年

作者： van Otterdijk, G.J.E. Moradi, S. Weiland, S. Tóth, R. Jaensson, N.O. Schoukens, M. Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Eindhoven Artificial Intelligence Systems Institute Eindhoven Netherlands Processing and Performance of Materials Group Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

Port-Hamiltonian neural networks (pHNNs) are emerging as a powerful modeling tool that integrates physical laws with deep learning techniques. While most research has focused on modeling the entire dynamics of interconnected systems, the potential for identifying and modeling individual subsystems while operating as part of a larger system has been overlooked. This study addresses this gap by introducing a novel method for using pHNNs to identify such subsystems based solely on input-output measurements. By utilizing the inherent compositional property of the port-Hamiltonian systems, we developed an algorithm that learns the dynamics of individual subsystems, without requiring direct access to their internal states. On top of that, by choosing an output error (OE) model structure, we have been able to handle measurement noise effectively. The effectiveness of the proposed approach is demonstrated through tests on interconnected systems, including multi-physics scenarios, demonstrating its potential for identifying subsystem dynamics and facilitating their integration into new interconnected models. © 2024, CC BY-NC-SA.

关键词： Hamiltonians

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Current opinions on large cellular models

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Quantitative Biology 2024年第4期12卷 433-443页

作者： Minsheng Hao Lei Wei Fan Yang Jianhua Yao Christina V.Theodoris Bo Wang Xin Li Ge Yang Xuegong Zhang MOE Key Laboratory of Bioinformatics and Bioinformatics Division BNRISTDepartment of AutomationTsinghua UniversityBeijingChina AI Lab TencentShenzhenChina Gladstone Institutes and University of California San FranciscoCaliforniaUSA Department of Computer Science University of TorontoTorontoOntarioCanada State Key Laboratory of Stem Cell and Reproductive Biology Institute of ZoologyChinese Academy of SciencesBeijingChina State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijingChina School of Life Sciences and School of Medicine Center for Synthetic and Systems BiologyTsinghua UniversityBeijingChina

1|*** language models(LLMs)have made breakthroughs in natural language processing(NLP)and understanding,and have brought revolutions in many other fields[1-4].Inspired by those successes,several large cellular models(LCMs)adopting similar structures of LLMs have been developed for single-cell transcriptomics,including(but not limited to)scBERT[5],Geneformer[6],scGPT[7],scFoundation[8],and GeneCompass[9].The practices of these models have shown LCMs’power and potential in various biological tasks and illustrated the possibilities of revolutionizing future biological studies by LCMs.

关键词： large cellular models large language models scBERT Geneformer scGPT scFoundation GeneCompass single-cell transcriptomics

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