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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Sun, Ning Cheng, Long Tian, Lin Hou, Zeng-Guang Tan, Min Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences China

ISBN: (纸本)9781728163215

Weight, size and torque control for hand exoskeleton robots are challenging due to lack of small and compact bidirectional torque actuators. In this paper, an asymmetric Bowden-cable-driven series elastic actuator (ABLE-SEA) for hand exoskeleton robots was proposed based on the fact that the required torques for finger movements are asymmetric. Compared to series elastic actuator and transmission system that were designed separately, the elastic elements of ABLESEA were placed in transmission parts to connect series elastic actuator with transmission system, which makes system compact. ABLE-SEA is 71 mm × 19.5mm × 20mm in dimension and weighs 30g except motor which is placed remotely. The dynamic model of ABLE-SEA was established, and feedback proportional-derivative (PD) control plus a feed-forward term was used to track the reference torque for the ABLE-SEA. The reference torque tracking test at different frequencies was performed at the developed prototype. Meanwhile, the peak torque of ABLE-SEA was tested. The experimental results verified that the torque bandwidth of the proposed series elastic actuator could reach 4Hz, and the peak torque of ABLE-SEA could reach 0.3Nm, which meet the design requirement. © 2019 IEEE.

关键词： Torque

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Design of a robotic fish based on a passive flexible mechanism

Design of a robotic fish based on a passive flexible mechani...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Lu, Ben Fu, Yuzhuo Zou, Qianqian Deng, Sai Zhou, Chao Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781728163215

In recent years, along with the rapid development of manufacturing, control, sensing and other technologies, biomimetic robotic fish has played an increasingly important role in marine exploration, underwater rescue, water quality monitoring and other fields. This paper designed a robotic fish based on a passive flexible mechanism to realize the fish-like propulsion function. The motion simulation of the designed transmission mechanism was carried out to get the actual curve of the structure. Through the analysis of the force of the fishtail, the preliminary selection scheme of the elastic joints based on the passive flexible mechanism was obtained. Finally, this paper built a robotic fish based on a passive flexible mechanism, which could achieve the motion frequency adjustable from 0.5 to 9 Hz, and the maximum swimming speed reaching 1.05 BL/s (BL, body length). This design scheme provided a new reference for the design of the biomimetic robotic fish and had certain practical significance. © 2019 IEEE.

关键词： Fish

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An Efficient Network for Lane Segmentation 4th

An Efficient Network for Lane Segmentation

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4th International Conference on Cognitive systems and Information Processing, ICCSIP 2018

作者： Li, Haoran Zhao, Dongbin Chen, Yaran Zhang, Qichao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9789811379826

As the basis of scenes understanding for autonomous driving, lane segmentation is always a challenge due to the various illumination conditions, heavy traffics and richly-textured roads. Because of the heavily biased distribution of lane/non-lane pixels, it is hard to achieve satisfying results by using image segmentation networks such as fully convolution neural networks (FCN). In this paper, we propose a new loss function to tackle the unbalanced data distribution problem. It has shown that the loss function significantly improves the performance of available segmentation networks such as FCN on the lane segmentation task. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Autonomous vehicles

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Bitcoin Fee Decisions in Transaction Confirmation Queueing Games under Limited Multi-Priority Rule

Bitcoin Fee Decisions in Transaction Confirmation Queueing G...

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2019 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2019

作者： Li, Juanjuan Yuan, Yong Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781728128535

In the Bitcoin system, transaction fees serve not only as the fundamental economic incentive to stimulate miners, but also as an important tuner for the Bitcoin system to define the priorities in the transaction confirmation process. In this paper, we aim to study the priority rules for queueing transactions based on their associated fees, and in turn users' decision-making in formulating their fees in the transaction confirmation queueing game. Based on the queueing theory, we first analyzed the waiting time of users under non-preemptive limited multi-priority (LMP) rule, which is formulated to adjust users' waiting time over different priorities. We then established a game-theoretical model, and analyze users' equilibrium fee decisions. Towards the end, we conducted computational experiments to validate the theoretical analysis. Our research findings can not only help understand users' fee decisions under the LMP rule, but also offer useful managerial insights in optimizing the queueing rules of Bitcoin transactions. © 2019 IEEE.

关键词： Blockchain

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Grouping Methods for Facilitating Emergency Evacuations

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IFAC-PapersOnLine 2020年第5期53卷 845-850页

作者： Linyao Yang Ke Tan Xin Liu Xiao Wang Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China State Key Laboratory of Nuclear Power Safety Monitoring Technology and Equipment Shenzhen China

It is widely believed that the motion of crowds can be described by the “social force” model, and small group behaviors have great impacts on evacuation efficiency as a common phenomenon in pedestrian evacuations. Some previous works have modeled group behaviors in social force models by depicting group members’ interaction forces. However, the impacts of different grouping schemes have not been considered and evaluated. This paper proposes four different grouping methods to explore the evacuation dynamics of different group structured pedestrians. Results show that group evacuations based on the spatial partitioning outperform those clustering-based schemes with the larger group number. More importantly, simulations indicate that the number of groups also highly affects the evacuation efficiency, and the larger the number of groups, the more efficient the evacuation.

关键词： Evacuation Simulation Social force Clustering methods Agent based modeling

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Analyzing the Evolutionary Characteristics of the Cluster of COVID-19 under Anti-contagion Policies 18

Analyzing the Evolutionary Characteristics of the Cluster of...

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18th IEEE International Conference on Intelligence and Security Informatics, ISI 2020

作者： Miao, Pu Tian, Hu Zhang, Xingwei He, Saike Zheng, Xiaolong Dash Wu, Desheng Zeng, Daniel Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China School of Artificial Intelligence Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Stockholm Business School Stockholm University StockholmSE-106 91 Sweden

ISBN: (纸本)9781728188003

With the rampaging of Coronavirus disease 2019 (COVID-19) across the world, analyzing the dynamic characteristics and understanding the evolutionary patterns of clusters are becoming even more crucial for people and policymakers to make timely responses for avoiding injury caused by COVID-19. To solve the scarcity of the fine-grained spatiotemporal data, we construct a novel dataset about the spread of patients during the resurgent period of the COVID-19 epidemic at the Xinfadi Market in Beijing. Leveraging our self-build dataset, we analyze the evolutionary characteristics of the cluster of COVID-19 under anti-contagion policies and obtained some remarkable evolution patterns. These findings can provide significant insights for policymakers and researchers to understand the evolutionary characteristics regarding the cluster of COVID-19 and deploy effective anti-contagion policies. © 2020 IEEE.

关键词： COVID-19

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Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detection

Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detecti...

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第40届中国控制会议

作者： Manjun Tian Xiali Li Shihan Kong Licheng wu Junzhi Yu School of Information Engineering Minzu University of China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Dept.Adv.Manuf.Robot. BIC-ESAT College of Engineering Peking University

To tackle the problem of aquatic environment pollution, a vision-based autonomous underwater garbage cleaning robot has been developed in our laboratory. This paper proposes a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object detection. More specifically, the YOLOv4 algorithm is chosen as a basic neural network framework to perform object detection. With the purpose of further improvement on the detection speed, the channel pruning and layer pruning are implemented on the trained YOLOv4 model, while the fine-tuned mechanism assists the pruned model to restore accuracy. In virtue of the improved detection methods, the robot has the ability to collect garbage *** experimental results indicate that the pruned YOLOv4 detection method can still maintain the high performance even though the parameter amount is 7.062% of the original model.

关键词： Object detection aquatic environment garbage cleaning robot modified YOLOv4

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Cortical pain induced by optogenetic cortical spreading depression: from whole brain activity mapping

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MOLECULAR BRAIN 2022年第1期15卷 99-99页

作者： Pi, Chenghui Tang, Wenjing Li, Zhishuai Liu, Yang Jing, Qi Dai, Wei Wang, Tao Yang, Chunxiao Yu, Shengyuan Nankai Univ Coll Med Tianjin Peoples R China Chinese Peoples Liberat Army Gen Hosp Med Ctr 1 Dept Neurol Beijing Peoples R China Chinese Acad Sci Inst Automation State Key Lab Management & Control Complex Syst Beijing Peoples R China Univ Sci & Technol China Sch Life Sci Hefei Peoples R China

Background: Cortical spreading depression (CSD) is an electrophysiological event underlying migraine aura. Traditional CSD models are invasive and often cause injuries. The aim of the study was to establish a minimally invasive optogenetic CSD model and identify the active networks after CSD using whole-brain activity ***: CSD was induced in mice by light illumination, and their periorbital thresholds and behaviours in the open field, elevated plus-maze and light-aversion were recorded. Using c-fos, we mapped the brain activity after CSD. The whole brain was imaged, reconstructed and analyzed using the Volumetric Imaging with Synchronized on-the-fly-scan and Readout technique. To ensure the accuracy of the results, the immunofluorescence staining method was used to verify the imaging ***: The optogenetic CSD model showed significantly decreased periorbital thresholds, increased facial grooming and freezing behaviours and prominent light-aversion behaviours. Brain activity mapping revealed that the somatosensory, primary sensory, olfactory, basal ganglia and default mode networks were activated. However, the thalamus and trigeminal nucleus caudalis were not ***: Optogenetic CSD model could mimic the behaviours of headache and photophobia. Moreover, the optogenetic CSD could activate multiple sensory cortical regions without the thalamus or trigeminal nucleus caudalis to induce cortical pain.

关键词： Cortical spreading depression Whole-brain activity mapping Cortical pain

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An Adaptive Federated control Strategy for Participant Selection in Multi-Client Collaboration

An Adaptive Federated Control Strategy for Participant Selec...

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

作者： Yizhu Chen Xiaoming Du Xiao Wang Jun Jason Zhang Fei-Yue Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Economics and Management University of Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China School of Electrical Engineering and Automation Wuhan University Wuhan China

The federated ecology provides a new paradigm for breaking the isolated data island problem and fully activating the potential of big data and artificial intelligence, especially in multi-client collaboration tasks. Participant selection strategy in multi-client collaboration is the main limitation for increasing the convergence speed and lowing the communication costs. However, in the face of the unbalanced and non-IID data distributions, the performance of federated optimization algorithms will also decrease. To solve the above problems, we propose an adaptive federated control strategy for participant selection in multi-client collaboration based on the Mann-Kendall test, named FedMK. By adaptively selecting weak participants for training rather than random selection, FedMK can speed up model convergence and reduce communication costs. Experiment results show that our method outperforms the baseline method in non-IID scenarios, and the number of communication rounds on CIFAR-10 and synthetic datasets reduced by more than 15% and 10 %,9 respectively.

关键词： Training Adaptation models Costs Biological system modeling Collaboration Optimization methods Ecology

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Development of GPU Enhanced AI Education Platforms for K-12 Schools

Development of GPU Enhanced AI Education Platforms for K-12 ...

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Chinese automation Congress (CAC)

作者： Xiaoyan Gong Yifan Wen Xiwei Liu Hongxia Zhao Sifeng Jing Qiang Li Kai Gao Jilong Luo The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Institute of Smart Education Systems Qingdao China The 21st Century International School Beijing China Beijing NO. 2 Middle School Beijing China Beijing University of Chemical Technology Beijing China

ISBN: (纸本)9781665426480

Recently, with continuous implementation of education reform, AI (Artificial Intelligence) has been included in K-12 (Kindergarten to 12th grade) curricula and AI education is in full swing in China. However, standard, cost-efficient AI education platforms for K-12 schools are still not available. So in this paper, based on Jetson Nano, we developed a GPU-enhanced AI teaching platform including AI learning computers for students to develop AI-related algorithms and applications, AI computer clusters for whole classes, and modular auto-driving cars to run and test algorithms and applications.

关键词： Computers automation Education Clustering algorithms Graphics processing units Automobiles Artificial intelligence

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