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Chat with ChatGPT on Industry 5.0:Learning and Decision-Making for Intelligent Industries

IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 831-834页

作者： Fei-Yue Wang Jing Yang Xingxia Wang Juanjuan Li Qing-Long Han State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia

THE current ChatGPT phenomenon has signaled a new era of Artificial Intelligence moving from Algorithmic Intelligence to Linguistic Intelligence where interactive activities between actual and artificial,real and virtual,human and machine play an active and important role online and in *** IEEE/CAA JAS,we are interested in investigating the impact and significance of this new era on industrial development,especially control and automation for manufacturing and production.

关键词： GPT artificial automation

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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Speed and Accuracy Tradeoff for LiDAR Data Based Road Boundary Detection

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1210-1220页

作者： Guojun Wang Jian Wu Rui He Bin Tian State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the Qingdao Academy of Intelligent Industries ShandongChina

Road boundary detection is essential for autonomous vehicle localization and decision-making,especially under GPS signal loss and lane *** road boundary detection in structural environments,obstacle occlusions and large road curvature are two significant ***,an effective and fast solution for these problems has remained *** solve these problems,a speed and accuracy tradeoff method for LiDAR-based road boundary detection in structured environments is *** proposed method consists of three main stages:1)a multi-feature based method is applied to extract feature points;2)a road-segmentation-line-based method is proposed for classifying left and right feature points;3)an iterative Gaussian Process Regression(GPR)is employed for filtering out false points and extracting boundary *** demonstrate the effectiveness of the proposed method,KITTI datasets is used for comprehensive experiments,and the performance of our approach is tested under different road *** experiments show the roadsegmentation-line-based method can classify left,and right feature points on structured curved roads,and the proposed iterative Gaussian Process Regression can extract road boundary points on varied road shapes and traffic ***,the proposed road boundary detection method can achieve real-time performance with an average of 70.5 ms per frame.

关键词： 3D-LiDAR autonomous vehicle object detection point cloud road boundary

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Tightly-coupled Lidar-GNSS-Inertial Fusion Odometry and Mapping

Tightly-coupled Lidar-GNSS-Inertial Fusion Odometry and Mapp...

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第43届中国控制会议

作者： Shuwei Yu Jing Li Tianwei Niu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper proposes a tightly-coupled lidar-GNSS-inertial fusion system that achieves accurate state estimation and mapping for robot *** system effectively fuses lidar points,GNSS measurements,and IMU data using the iterated error state Kalman filter algorithm to obtain precise,drift-free,and real-time *** optimize computational efficiency,an incremental tree structure,ikdtree,is employed for managing a local map,and different Kalman gain formulas are utilized to process GNSS and lidar point observations separately to lower the computation ***,a factor graph is introduced to optimize the pose *** selectively introducing keyframes based on the odometry estimation,the graph incorporates odometry,GNSS measurements,and loop closure constraints to optimize all keyframe poses,resulting in a precise trajectory and global ***,extensive experiments are conducted using the KITTI dataset and several real-world scenarios to validate the proposed *** experimental results demonstrate that our method achieves precise localization and mapping across diverse environments.

关键词： State estimation Mapping Sensor fusion Robot navigation

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Multi-task Learning Based Single Temporal Remote Sensing Image Change Detection 23

Multi-task Learning Based Single Temporal Remote Sensing Ima...

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Proceedings of the 2023 12th International Conference on Computing and Pattern Recognition

作者： Peixuan Yang Yichao Cao Xiaobo Lu Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University China

ISBN: (纸本)9798400707988

Change Detection is a classic and fundamental task in remote sensing(RS), and has accomplish remarkable achievement on bitemporal image based methods. However, bitemporal images are very expensive and needs professional researchers to align and label the paired images. Furthermore, most bitemporal image based methods are only semantic-aware not instance-aware, which indicates these methods only use paired images’ semantic information. Thus, we propose a method that only needs unpaired RS images with semantic labels. In this paper, we introduce multi-task learning into change detection progress, which comprises four major parts: Boundary-Aware Module, Contextual-Aware Module, Segmentation Module, Change Detection Module. At first, we construct Boundary-Aware Module and Contextual-Aware Module to extract sharp boundary and dense contextual features. Then we feed the feature maps to Change Detection Module and Segmentation Module to accomplish the subtasks. The comprehensive experiments on a single temporal image dataset demonstrate the efficiency of our approach over other bitemporal image based methods, and the experimental results shows our approach is competitive with other methods while all methods was trained on bitemporal image dataset.

关键词： Change Detection Multi-task Learning Single Temporal Image

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controllability Analysis and Stable control for Planar Non-One Passive Joint Underactuated Robot with Bi-Directional Approach 42

Controllability Analysis and Stable Control for Planar Non-O...

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42nd Chinese control Conference, CCC 2023

作者： Huang, Zixin Wei, Ziang Wang, Wei Gong, Xiangyu Zeng, Ba Wang, Lejun School of Electrical and Information Engineering Wuhan Institute of Technology China Wuhan Textile University Hubei Key Laboratory of Digital Textile Equipment China Chongqing University of Posts and Telecommunications Chongqing Key Laboratory of Complex Systems and Bionic Control China

ISBN: (纸本)9789887581543

In this paper, we consider the controllability and stability control problem for planar underactuated robots with non-one passive joints. The dynamic constraints of the robot are mainly caused by nonholonomic constraints. Firstly, we establish the dynamic model of this system and analyze its controllability. Then, based on location and number of passive joints, we divide the system into different configurations. Next, we propose a stable control method based on bi-directional approach to achieve the stable control of different systems. At last, the numerical simulation conclusion illuminate the feasibility of this method. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： controllability

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The engineering of circular causality for specialization and design of complex systems:cad2CAS and casCAD2

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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 323-332页

作者： Xiaolong LIANG Rui QIN Juanjuan LI Fei-Yue WANG Faculty of Innovation Engineering Macao University of Science and TechnologyMacao999078China State Key Laboratory of Multimodal Artificial Intelligence Systems Chinese Academy of SciencesBeijing100190China The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing100190China

The emergence of decentralized autonomous organizations and operations(DAOs),equipped with innovative mechanisms,enables new possibilities for transforming traditional social collaborative *** are the underlying drive... 详细信息

关键词： complexity. circular equipped

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Study on the Falling Off Position and Heat Shift of Bonding Wire Based on Temperature Distribution Coefficient 17th

Study on the Falling Off Position and Heat Shift of Bonding ...

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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Dong, Chao Hu, Jingwei Du, Mingxing Yin, Jinliang Wei, Yifan Liu, Xueting Tianjin Key Laboratory of Control Theory and Application of Complex Systems Tianjin University of Technology Tianjin300384 China Tianjin Sino-German University of Applied Sciences Tianjin300384 China

ISBN: (纸本)9789819904501

When the bonding wire of IGBT module is aged, most traditional researches only consider the change rule of the electrothermal parameters caused by the number of dropped bonding wires, ignoring the influence caused by the difference of the distribution of the dropped bonding wires. Based on the temperature distribution coefficient k, the heat source offset caused by the bond wire falling off position is analyzed in this paper. Firstly, the temperature distribution coefficient k in the healthy state is determined by capturing the temperature at the bottom, middle and edge of the chip in a fixed position with a fiber grating sensor. Then, the FEM is used to analyze the heat source offset caused by the different number and location of bond wire falling off, and explore the law of temperature distribution coefficient k and heat source offset. Finally, an experimental platform is set up to verify the rule of heat source offset and temperature distribution coefficient k, and the specific bond wire falling off position is determined according to the values and changes of temperature distribution coefficient k on both sides of IGBT module. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Finite element method

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Anti-disturbance Low Speed Regulation control of PMSMs Using Modified Extended State Observer Based on Rotor Position

Anti-disturbance Low Speed Regulation Control of PMSMs Using...

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2024 Jiangsu Annual Conference on Automation, JACA 2024

作者： Xu, Lei Mao, Linxuan Li, Shihua School of Electronic Science and Engineering Southeast University Nanjing210096 China School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781837242689

A modified extended state observer (ESO) based rotor position algorithm is proposed for improving low speed regulation control performance. The speed signal is often obtained by differentiating the position signal. However, the position signal of encoder with quantization errors results in crawling and shaking at low speeds. Considering quantization error as a type of noise limited their own accuracy, the environmental influences like mechanical vibration and electromagnetic interference also lead to noise in rotor position. The modified ESO method incorporated a Kalman filter (KF) is proposed to reduce the negative impact of noise. Due to differential amplification noise, the position signal is used instead of traditional speed signal for observers design because of its undesirable characteristics at low speed. The modified ESO based on rotor position is used to estimate both speed signal and disturbances to enhance the low speed performance in the presence of disturabances and measurement noise. The friction model is embedded for above integrated structure due to its nonliearity at low speeds. Considering the negative effects of measurement noise and disturbance at low speeds, it has verified that the proposed algorithm has better dynamic and steady-state performance and anti-disturbance ability through simulation. © The Institution of Engineering & Technology 2024.

关键词： State estimation

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A Multi-Channel Adaptive Cancellation Algorithm for Active Suppression of Motion-Induced Noise in Magnetic Antennas 3

A Multi-Channel Adaptive Cancellation Algorithm for Active S...

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3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Hu, Mingyi Song, Junlei Yan, Yi Liu, Ying Li, Xiaoxue Dong, Kaifeng Jin, Fang Mo, Wenqin Hui, Yajuan School of Automation China University of Geosciences Wuhan430074 China Ministry of Education Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan China

ISBN: (纸本)9798331540319

During super low frequency (SLF) magnetic induction communication, the sensitive antenna carried by autonomous underwater vehicles (AUVs) is highly susceptible to vibration, resulting in a large amount of noise in communication signals, which seriously affects communication performance. The type of motion-induced noise typically exhibits randomness and nonlinearity. Based on the strong correlation between the motion-induced noise and the antenna's vibration signal, we propose a multi-channel normalized least mean square (MCNLMS) algorithm. The algorithm utilizes the six degrees of freedom vibration acceleration information from both ends of the magnetic antenna as the reference signal input for the canceller, providing more comprehensive information related to motion-induced noise than the single-channel adaptive noise cancellation algorithm. Experimental results indicate that the MCNLMS algorithm demonstrates effective suppression of the motion-induced noise, achieving an average reduction of approximately 7 dB within the 160-170 Hz communication band. Additionally, it exhibits improved stability and faster convergence. © 2024 IEEE.

关键词： Adaptive algorithms

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