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Memory-based Human Postural Regulation control: An Asynchronous Semi-Markov Model Approach

INTERNATIONAL JOURNAL OF control AUTOMATION AND systemS 2023年第10期21卷 3357-3367页

作者： Ma, Chao Fu, Hang Wu, Wei Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This article investigates the human postural regulation problem from the dynamical system perspective, which is also applicable for human-like robotics. More precisely, since the dynamical human posture parameters may change caused by varying load or environment abrupt, the semi-Markov jump process is employed to model the human standing postural dynamics with multiple modes. Furthermore, a novel memorized regulation strategy is developed for guaranteeing the stable standing such that the past memory information can be well utilized. In particular, the asynchronous regulation procedure is considered for better describing the human postural model with mismatched jumping modes. By model transformation and stochastic analysis, mode-dependent regulation criteria with state feedback model are established by convex optimization approach, based on which the mode-dependent regulation gains are designed accordingly. Finally, the feasibility and effectiveness of our proposed regulation strategy is verified via an illustrative example of quiet upright standing posture.

关键词： Asynchronous regulation convex optimization human postural regulation memory-based regulation semi-Markov jump system

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Dynamic deadline constrained multi-objective workflow scheduling in multi-cloud environments

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EXPERT systemS WITH APPLICATIONS 2024年 258卷

作者： Cai, Xingjuan Zhang, Yan Li, Mengxia Wu, Linjie Zhang, Wensheng Chen, Jinjun Taiyuan Univ Sci & Technol Shanxi Key Lab Big Data Anal & Parallel Comp Taiyuan 030024 Shanxi Peoples R China Nanjing Univ State Key Lab Novel Software Technol Nanjing Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Swinburne Univ Technol Dept Comp Sci & Software Engn Melbourne Australia

Workflow scheduling becomes difficult and demanding in multi-cloud systems because of the variety of billing models and resource kinds, as well as the susceptibility of processes to time limitations. In which the execution duration of the workflow needs to be flexibly adjusted according to the urgency or otherwise of the real situation, in this work, we model the workflow scheduling problem with deadline constraints as a dynamically constrained multi-objective optimization problem (DCMOP), where the disruption rate of the special cloud resources and the failure probability in different cloud environments are expressed as the disruption probability of the workflow in a comprehensive manner while considering the execution time and cost. Dynamics arise from price changes for specialized cloud resources and changes in the execution duration of workflows. In addition, an algorithm for dynamically constrained multi-objective optimization (DC-MOEADPDS) is proposed in this paper. The algorithm based on two-population synergy as well as diversity selection. The auxiliary population ignores constraint limitations to help the main population speed up convergence, and diversity selection enables the auxiliary population to have better diversity to assist the general public in looking for more viable areas. Through dynamic constrained workflow simulation experiments in a multi-cloud environment, our algorithm reduces the execution time by an average of 13.29%, the cost by an average of 32.26%, and the interruption probability by 56.75%. In addition, our algorithm outperforms other algorithms in experiments on a dynamically constrained benchmark set.

关键词： Multi-cloud Dynamically constrained multi-objective optimization Workflow scheduling Outage rates Deadline constraints

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Autonomous Crowdsensing: Operating and Organizing Crowdsensing for Sensing Automation

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年第3期9卷 4254-4258页

作者： Wu, Wansen Yang, Weiyi Li, Juanjuan Zhao, Yong Zhu, Zhengqiu Chen, Bin Qiu, Sihang Peng, Yong Wang, Fei-Yue Natl Univ Def Technol Coll Syst Engn Changsha 410073 Hunan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

The precise characterization and modeling of Cyber-Physical-Social systems (CPSS) requires more comprehensive and accurate data, which imposes heightened demands on intelligent sensing capabilities. To address this issue, Crowdsensing Intelligence (CSI) has been proposed to collect data from CPSS by harnessing the collective intelligence of a diverse workforce. Our first and second Distributed/Decentralized Hybrid Workshop on Crowdsensing Intelligence (DHW-CSI) have focused on principles and high-level processes of organizing and operating CSI, as well as the participants, methods, and stages involved in CSI. This perspective reports the outcomes of the latest DHW-CSI, focusing on Autonomous Crowdsensing (ACS) enabled by foundation intelligence and its associated technologies such as decentralized autonomous organizations and operations, large language models, and human-oriented operating systems. Specifically, we explain what ACS is and explore its distinctive features in comparison to traditional crowdsensing. Moreover, we present the "6A-goal" of ACS and propose potential avenues for future research.

关键词： Crowdsensing Sensors Task analysis Robot sensing systems Decentralized autonomous organization Automation Artificial intelligence Cyber-physical-social systems (CPSS) crowdsensing intelligence (CSI) autonomous crowdsensing

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MetaVehicles in the Metaverse: Moving to a New Phase for Intelligent Vehicles and Smart Mobility

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2022年第1期7卷 1-5页

作者： Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Presents the introductory editorial for this issue of the publication.

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Development and control of Underwater Gliding Robots:A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

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Improvement of coronary microcirculation in acute myocardial ischemia rats using a nanoscale carrier SiO2@PEG loaded with Nicorandil

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DRUG DELIVERY AND TRANSLATIONAL RESEARCH 2025年 1-14页

作者： Wang, Rui Mo, Yujing Liang, Yingcong Liu, Yuanhui Sun, Zhongchan Shang, Wenting Xue, Ling Southern Med Univ Guangdong Prov Peoples Hosp Guangdong Cardiovasc Inst Guangdong Acad Med SciDept Cardiol Guangzhou 510080 Peoples R China Chinese Acad Sci Inst Automat CAS Key Lab Mol Imaging State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Coronary microcirculatory dysfunction, affecting over half of acute myocardial infarction (AMI) patients, correlates significantly with AMI prognosis. Nicorandil is an effective drug that markedly improves coronary microcirculation, but current clinical formulations of Nicorandil exhibit a relatively short half-life and lack cardiac selectivity. We formulated and synthesized a variety of mesoporous silica nanoparticles (MSNs) as a drug carrier for loading and delivering Nicorandil. We performed PEG modification on MSNs to enhance their biocompatibility. The SiO2@PEG showed good serum stability, maintained a uniform spherical structure with a particle size distribution centered within 200 nm and exhibits good dispersibility. SiO2@PEG-Nicorandil showed no significant impact on AC 16 cells' viability at concentrations up to 50 mu g/mL. SiO2@PEG-Nicorandil significantly enhanced the viability of AC16 cells under oxidative stress conditions, while concurrently reducing intracellular levels of reactive oxygen species (ROS) and Ca2+. For the rat coronary microvascular dysfunction model, the SiO2@PEG-Nicorandil group demonstrated a greater decrease in thrombus formation and the expression of inflammatory cytokines, outperforming the Nicorandil group. In vivo imaging revealed that within one hour post-injection of SiO2@PEG-Nicorandil-CY7, a notable increase in CY7 fluorescence intensity was observed in the cardiac region compared to surrounding tissues. Drug concentration measurements demonstrated that Nicorandil maintained a stable concentration in cardiac blood at 48 h in the SiO2@PEG-Nicorandil group. Taken together, SiO2@PEG-Nicorandil had exhibited superior cardiac-targeting capabilities and sustained-release properties. Within a specific concentration range, it demonstrated enhanced therapeutic effects in the treatment of coronary microcirculation disorders in rats when compared to conventional Nicorandil formulations.

关键词： Acute myocardial ischemia Coronary microcirculation Nanoscale carrier Nicorandil

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Hierarchical Estimation-Based LiDAR Odometry With Scan-to-Map Matching and Fixed-Lag Smoothing

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第2期8卷 1607-1623页

作者： Liang, Shuang Cao, Zhiqiang Wang, Chengpeng Yu, Junzhi Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Peking Univ Coll Engn Dept Adv Mfg & Robot State Key Lab Turbulence & Complex SystBIC ESAT Beijing 100871 Peoples R China

LiDAR odometry (LO) has gained popularity in recent years due to accurate depth measurement and robustness to illumination. Typically, the solutions based on scan-to-map matching mainly optimize current pose. To further reduce the accumulated error of pose estimation, the fixed-lag smoothing that optimizes fixed-size poses simultaneously by matching corresponding point features of multiple frames becomes necessary. The integration of fixed-lag smoothing with LO still needs further exploration. In this paper, a general fixed-lag smoothing module is proposed, which can be appended to existing LO framework to improve the consistency of trajectory. Also, a fast scan-to-map matching module based on sparse features is developed to guarantee the real-time performance. Besides, the feature-centric feature management strategy is adopted in both scan-to-map matching and fixed-lag smoothing modules, which makes the proposed LO efficient. On this basis, a hierarchical estimation-based LiDAR odometry is presented, where low-level scan-to-map matching estimates pose of each frame by aligning associated features in the frame and corresponding surrounding map with high efficiency, and high-level fixed-lag smoothing further optimizes keyframe poses in a sliding window by matching associated features among multiple frames with high accuracy. As a result, a fast and accurate pose estimation is achieved, which is verified by experiments on the KITTI dataset, Newer College dataset, and an actual outdoor scenario.

关键词： Feature extraction Laser radar Smoothing methods Pose estimation Point cloud compression Real-time systems Three-dimensional displays LiDAR odometry hierarchical estimation scan-to-map matching fixed-lag smoothing

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Distributed Formation control for a Multirobotic Fish system With Model-Based Event-Triggered Communication Mechanism

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第11期70卷 11433-11442页

作者： Dai, Shijie Wu, Zhengxing Zhang, Pengfei Tan, Min Yu, Junzhi Univ Chinese Acad Sci Sch Artificial IntellIigence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Peking Univ Dept Adv Mfg & Robot Coll Engn State Key Lab Turbulence & Complex SystBIC ESAT Beijing 100871 Peoples R China

This article confronts the formation control problem for a multirobotic fish system with event-triggered communication mechanism. A 3-D distributed formation control framework is proposed to drive the robotic fish agents to an anticipated configuration aligning with a moving target. In particular, a consensus-based formation control law is intended to realize the two-stage formation control process. Taking the energy-constrained occasions into consideration, the communication structure and event-triggered protocols are initially tailored. Meanwhile, the Lyapunov function is employed and the globally asymptotic stability of the proposed method is fully demonstrated. Afterwards, making use of the local measurements of triggering times, the unscented Kalman filter is introduced and a novel model-based event-triggered mechanism is put forward to further mitigate otiose communication consumption. Finally, adequate simulations and experiments are carried out to verify the effectiveness and robustness of the proposed scheme. Thereby, the proposed formation control frame offers great potential for future practical marine operations of the underwater multiagent systems.

关键词： Formation control model-based eventtriggered mechanism (ETM) robotic fish underwater multiagent system

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Barrier-Based Adaptive Line-of-Sight 3-D Path-Following system for a Multijoint Robotic Fish With Sideslip Compensation

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第7期53卷 4204-4217页

作者： Dai, Shijie Wu, Zhengxing Wang, Jian Tan, Min Yu, Junzhi Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Peking Univ Coll Engn Dept Adv Mfg & Robot BIC ESATState Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

This article proposes a novel barrier-based adaptive line-of-sight (ALOS) three-dimensional (3-D) path-following system for an underactuated multijoint robotic fish. The framework of the developed path-following system is established based on a detailed dynamic model, including a barrier-based ALOS guidance strategy, three integrated inner-loop controllers, and a nonlinear disturbance observer (NDOB)-based sideslip angle compensation, which is employed to preserve a reliable tracking under a frequently varying sideslip angle of the robotic fish. First, a barrier-based convergence strategy is proposed to deal with probable along-track error disruption and suppress the error within a manageable range. Meanwhile, an improved adaptive guidance scheme is adopted with an appropriate look-ahead distance. Afterward, a novel NDOB-based sideslip angle compensation is put forward to identify the varying sideslip angle independent of speed estimation. Subsequently, inner-loop controllers are intended for regulation about the controlled references, including a super-twisting sliding-mode control (STSMC)-based speed controller, a global fast terminal sliding-mode control (GFTSMC)-based heading controller, and a GFTSMC-based depth controller. Finally, simulations and experiments with quantitative comparison in 3-D linear and helical path following are presented to verify the effectiveness and robustness of the proposed system. This path-following system provides a solid foundation for future marine autonomous cruising of the underwater multijoint robot.

关键词： Robots Robot kinematics Adaptive systems Navigation Solid modeling Force complex systems 3-D path-following adaptive line-of-sight (LOS) guidance and control robotic fish time-varying sideslip angle

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High Precision Calibration for Three-Dimensional Vision-Guided Robot system

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第1期70卷 624-634页

作者： Liu, Zhicheng Liu, Xilong Cao, Zhiqiang Gong, Xurong Tan, Min Yu, Junzhi Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Peking Univ BIC ESAT Coll Engn Dept Adv Mfg & Robot State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

Calibration is an important premise for vision-guided robot system, especially for precise industrial operations on curved surfaces. Most of existing methods focus on one or partial union of errors including assembly error of the robot, relative pose error between the vision unit and the robot, or installation error of end effector, which is still challenging in practice. To solve this problem, this article proposes a new calibration method based on error correction matrix by which different manifestations of each error is unified. As the nonlinear equations formed by these matrices cannot be solved analytically, a numerical optimization solution based on Lie algebra is presented. Specifically, the matrices acquisition is formulated as the problem of minimizing the sum of distance deviations between actual and ideal tool center points. This problem is then solved by differentiating these matrices with a form of left multiplicative perturbation. In this way, a high precision joint calibration with multisource errors is achieved. The proposed method is verified by simulations and experiments.

关键词： Robots Calibration Robot kinematics Mathematical models End effectors Cameras Robot vision systems Calibration error correction matrix unified model vision-guided robot

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