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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Li, Shimeng Wang, Yutong Wang, Xiao Wang, Feiyue Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781665433372

Parallel Manufacturing is a new manufacturing paradigm in industry, deeply integrating informalization, automation, and artificial intelligence. In this paper we propose a new mechanical design paradigm in Parallel Manufacturing based on ACP method. The key is to regard the design procedure based on artificial design and emulation method as two independent procedures, which can be modeled as a parallel system. The design procedure based on ACP method does not include a real system, which is an inventive extension of the traditional parallel system. This method can be implemented with social information by introducing the definition of SDV, SDM, and Intelligent Design Manager, making it highly adaptive for social manufacturing and Parallel Manufacturing. © 2021 IEEE.

关键词： Manufacture

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Parallel control-Based Event-Triggered Optimal control for Constrained Discrete-Time Nonlinear systems

Parallel Control-Based Event-Triggered Optimal Control for C...

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2021 China automation Congress, CAC 2021

作者： Lu, Jingwei Bai, Tianxiang Wei, Qinglai Zhou, Tianmin Wang, Fei-Yue School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Beijing China

ISBN: (纸本)9781665426473

This study proposes a new event-triggered optimal control (ETOC) method for discrete-time (DT) constrained nonlinear systems. First, a new triggering condition is proposed. We show the asymptotic stability of the closed-loop system using the proposed triggering condition and analyze the degeneration degree of the real performance index. Second, to perform the proposed ETOC method effectively, parallel control (PC) combined with adaptive dynamic programming (ADP) is applied. Finally, the validity of the ETOC method is validated by a simulation. © 2021 IEEE

关键词： Asymptotic stability

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Terrain Depth Estimation for Improved Inertial Data Prediction in Autonomous Navigation systems

Terrain Depth Estimation for Improved Inertial Data Predicti...

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Automated Vehicle Validation Conference (IAVVC), IEEE International

作者： Norbert Markó Tamás Szirányi Áron Ballagi Machine Perception Research Laboratory Institute for Computer Science and Control (SZTAKI) Budapest Hungary Department of Automation Széchenyi István University Gyὄr Hungary

The prediction of terrain elevation values is a key task when it comes to off-road dynamics and inertial data estimation. A reliable elevation map can help in the estimation of future vehicle states and thus extend the response time window for autonomous navigation and control. We trained a deep learning model that is able to successfully predict top-down terrain depth maps in an off-road setting using a lightweight monocular depth estimation network. The labels were generated using a custom preprocessing algorithm to aid single image depth model training. Unlike other elevation estimation algorithms, our work can predict terrain variation from a higher camera setting without the use of a multi-sensor system. The network is also shown to work outside of the training data domain. The code will be available at https://***/norbertmarko/terrain-depth.

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Stealthy Attacks on Sampled-Data control and Encryption-Based Countermeasures

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IEEE Transactions on Automatic control 2025年

作者： Shang, Jun Li, Yuzhe Chen, Tongwen Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110004 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

This paper investigates stealthy attacks on sampled-data control systems, where a continuous process is sampled periodically, and the resultant discrete output and control signals are transmitted through dual channels in wireless communication networks. Acknowledging the vulnerability of these transmitted data to cyber threats, we analyze two types of stealthy attacks that compromise either one or both channels. We explicitly present the necessary and sufficient conditions for the existence of stealthy single-channel attacks. To mitigate these security risks, we implement encryption-based countermeasures, including linear time-invariant and periodic encryption methods. We detail sufficient conditions under which these encryption strategies effectively thwart single- and dual-channel stealthy attacks. The effectiveness of these approaches and the theoretical findings are demonstrated through numerical simulations. © 1963-2012 IEEE.

关键词： Cyber attacks

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A Positioning and Navigation System for Railway Technical Station Operators

A Positioning and Navigation System for Railway Technical St...

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

作者： Fan Yang Zhixue Wang Gang Xiong Xiangyu Hu Kejie Xu Shichao Chen School of Rail Transportation Shandong Jiaotong University State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Jinan China School of Rail Transportation Shandong Jiaotong University Jinan 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 School of Computer and Artificial Intelligence Beijing Technology and Business University State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China China Mobile Communication Group Sichuan Co. Ltd Chengdu China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing Huairou Academy of Parallel Sensing Beijing China

ISBN: (数字)9798350349252

ISBN: (纸本)9798350349269

As an important node in the dismantling and grouping of freight trains, the operational tasks of the railway technical station are increasingly busy. Various business activities involve a large number of field personnel, and ensuring the personal safety and operational efficiency of these personnel is one of these issues that railway operations need to *** ensure the operational safety and standardization at the railway technical station, high-precision positioning system for the personnel is required. However, typical operational scenarios at railway technical stations often involve problems such as the carriage obstruction and the electromagnetic interference. Only rely on GNSS for positioning is often insufficient to meet practical requirements. Addressing the need of the high-precision positioning for the operational personnel at railway technical stations, this paper constructs a integrated navigation system based on RTK and IMU . It utilizes a Discrete Error State Kalman Filtering algorithm to fuse the solution data from RTK and IMU, thereby obtaining high-precision pedestrian positioning data. Compared to relying solely on GNSS positioning system, the integrated navigation system significantly improves its resistance to the interference and positioning accuracy. Experimental results demonstrate that this positioning system can achieve centimeter-level positioning in obstructed scenarios typical of railway technical stations, meeting the positioning requirements of the operational personnel at railway technical station work sites.

关键词： Global navigation satellite system Pedestrians Satellites Accuracy Standardization Rail transportation Safety Trajectory Personnel Kalman filters

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PiAGI: The Concept, Mechanism and Framework

PiAGI: The Concept, Mechanism and Framework

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

作者： Qiang Li Zhuoya Ju Lili Fan Xin Liu Wenhua Liu Feiyue Wang Scientific and Technological Innovation Center Beijing China The School of Automation Beijing Institute of Technology Beijing China School of Big Data & Cyber Security China University of Petroleum Qingdao China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350349252

ISBN: (纸本)9798350349269

As social production and living spaces gradually expand from the physical and information domains to the cognitive and social domains, this article addresses the new changes brought about by these expansions. Starting from the new impact of era of intelligent connectivity on social cognitive management, it analyzes the urgent need to enhance social cognitive management capabilities centered on cognitive decision-making, identifying the core key as Adversarial Generated Intelligence (AGI). It delves into the conceptual characteristics, operating mechanisms, and winning strategies of AGI, identifies the new challenges it faces, and proposes a Parallel Intelligence empowering AGI (PiAGI) system architecture through the empowerment of parallel intelligence. This provides theoretical support for improving social cognitive management capabilities centered on cognitive decision-making.

关键词： Decision making systems architecture Production Digital twins Faces

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DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatial and Temporal Transformer Network

DSTFormer: 3D Human Pose Estimation with a Dual-scale Spatia...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Shaokun Zhang Xinde Li Chuanfei Hu Jianping Xu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Science and Technology on Information Systems Engineering Laboratory Nanjing China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Recent transformer-based methods for estimating 3D human pose have gained widespread attention, achieving state-of-the-art results. Previous methods have primarily focused on capturing motion patterns of the human body at a single scale or cascading multiple scales, such as joints, bones, and body-parts. However, they are difficult to simultaneously capture spatial-temporal motion patterns of the human body at different scales due to the complex motion patterns. To address this issue, we propose Dual-scale Spatial and Temporal transFormer (DSTFormer), which can concurrently explore the spatial dependencies and temporal motion patterns of human joints and bones. Additionally, we introduce a Gcn-Spatial Transformer Block (GSTB), which introduces Graph Convolutional Networks (GCN) into transformer to enhance the exploitation of local relationships and global information between adjacent joints or bones. Extensive experiments are conducted on the Human3.6M benchmark dataset, and superior results are reported when comparing to other state-of-the-art methods. More remarkably, our model achieves to-date the best published performance, with P1 errors of 37.9 mm and 15.6 mm, respectively.

关键词： Solid modeling Three-dimensional displays Mechatronics Graph convolutional networks Computational modeling Pose estimation Transformers Bones Joints Robots

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A Spatial-Temporal Attention Model for Human Trajectory Prediction

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 965-974页

作者： Xiaodong Zhao Yaran Chen Jin Guo Dongbin Zhao the School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083 the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the Key Laboratory of Knowledge Automation for Industrial Processes Ministry of EducationBeijing 100083China

Human trajectory prediction is essential and promising in many related applications. This is challenging due to the uncertainty of human behaviors, which can be influenced not only by himself, but also by the surrounding environment. Recent works based on long-short term memory(LSTM) models have brought tremendous improvements on the task of trajectory prediction. However, most of them focus on the spatial influence of humans but ignore the temporal influence. In this paper, we propose a novel spatial-temporal attention(ST-Attention) model,which studies spatial and temporal affinities jointly. Specifically,we introduce an attention mechanism to extract temporal affinity,learning the importance for historical trajectory information at different time instants. To explore spatial affinity, a deep neural network is employed to measure different importance of the neighbors. Experimental results show that our method achieves competitive performance compared with state-of-the-art methods on publicly available datasets.

关键词： Attention mechanism long-short term memory(LSTM) spatial-temporal model trajectory prediction

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot*

Design and locomotion characteristic analysis of a novel ten...

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IEEE International Conference on Robotics and Biomimetics

作者： Jixue Mo Changqing Gao Hao Fang Qingkai Yang Department of Strategic and Advanced Interdisciplinary Research Peng Cheng Laboratory Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot’s hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment.

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Longitudinal Transition Analysis and control of a Tilt-Body VTOL Aircraft

Longitudinal Transition Analysis and Control of a Tilt-Bo...

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International Conference on Guidance, Navigation and control, ICGNC 2024

作者： Lou, Jinhao Zhao, Longfei Li, Ke Zhong, Xiancheng Shang, Yaoxing Jiao, Zongxia School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Key Laboratory of Advanced Aircraft Systems Beijing100083 China Science and Technology on Aircraft Control Laboratory Beijing100083 China Ningbo Institute of Technology Beihang University Ningbo315800 China Tianmushan Laboratory Hangzhou310023 China State Grid Qinghai Electric Power Co. Ltd. Qinghai Xining810001 China

ISBN: (纸本)9789819622351

Vertical takeoff and landing (VTOL) aircrafts are characterized by large flight envelopes and significant variations in flight operational conditions, making the analysis of flight envelopes and the design of controllers inherent challenges. This study focused on a tilt-body VTOL aircraft, analyzing its longitudinal flight envelope, namely transition corridors. It demonstrated that the tilt-body have a broad flight envelope and designed a longitudinal flight controller based on transition corridor trimming and total energy control theory. The theoretical approach was validated through simulation, achieving full-speed range level flight control and effective longitudinal flight control for the tilt-body. Simulation results show that this method can compensate for nonlinearities in the model and exhibits robustness, allowing the tilt-body aircraft to demonstrate excellent flight performance during transition flight. This research provides valuable insights and guidance for the analysis and control of a class of VTOL aircraft, particularly significant for the design of new VTOL configurations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： VTOL/STOL aircraft

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