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Parallel Learning:Overview and Perspective for Computational Learning Across Syn2Real and Sim2Real

IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 603-631页

作者： Qinghai Miao Yisheng Lv Min Huang Xiao Wang Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China School of Artificial Intelligence Anhui UniversityHefei 266114China Qingdao Academy of Intelligent Industries Qingdao 230031China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

The virtual-to-real paradigm,i.e.,training models on virtual data and then applying them to solve real-world problems,has attracted more and more attention from various domains by successfully alleviating the data shortage problem in machine *** summarize the advances in recent years,this survey comprehensively reviews the literature,from the viewport of parallel ***,an extended parallel learning framework is proposed to cover main domains including computer vision,natural language processing,robotics,and autonomous ***,a multi-dimensional taxonomy is designed to organize the literature in a hierarchical ***,the related virtual-toreal works are analyzed and compared according to the three principles of parallel learning known as description,prediction,and prescription,which cover the methods for constructing virtual worlds,generating labeled data,domain transferring,model training and testing,as well as optimizing the strategies to guide the task-oriented data generator for better learning *** issues remained in virtual-to-real are ***,the future research directions from the viewpoint of parallel learning are suggested.

关键词： Machine learning parallel learning parallel systems sim-to-real syn-to-real virtual-to-real

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Electric Dual Variable Pump controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

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42nd Chinese control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Backstepping

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Line Feature Based Visual Servo control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Yunfei Bian, Xinyu Sun, Yize Zhang, Zongyu Huang, Hai Yang, Xu National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350384185

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features. © 2024 IEEE.

关键词： Visual servoing

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A Multimodal Emotion Perception Model based on Context-Aware Decision-Level Fusion 41

A Multimodal Emotion Perception Model based on Context-Aware...

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第41届中国控制会议

作者： Yishan Chen Zhiyang Jia Kaoru Hirota Yaping Dai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A Multimodal Emotion Perception model with Audio and Visual modalities(MEP-AV) is proposed to detect the individual emotions in public *** framework of MEP-AV model consists of four parts,i.e.,data collection module,audio expression analysis module,visual expression analysis module and multimodal fusion *** order to ensure that the emotion perception results meet the requirement of short-term continuity,a Context-Aware Decision-Level Fusion(CADLF) model is proposed and applied in multimodal fusion *** CADLF model estimates the affective status by using context information of multimodal *** short-term continuity is considered to improve the accuracy of the emotion perception *** experiment results evaluated by various metrics demonstrate that the performance of the multimodal structure is improved compared with that of unimodal emotion *** MEP-AV model using multimodal fusion algorithm provides the accuracies of70.89% and 77.07% in valence and arousal *** F1-scores reaches 70.2% and 75.6% respectively,indicating the boost performance on emotion perception.

关键词： Emotion Perception Decision-level Fusion Context-aware

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An Adaptive Fault Isolation and Tolerant control Method Based on Consistency Error for Multi-agent systems 41

An Adaptive Fault Isolation and Tolerant Control Method Base...

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第41届中国控制会议

作者： Shanshan Fu Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper is aimed at the second-order linear multi-agent formation *** to the failure of the actuator in a node,the wrong interactive information is transmitted between nodes,so that the entire system cannot complete the expected task.A distributed adaptive fault isolation and fault tolerance method based on consistency theory is *** the consistency error variable is designed according to the connection relationship between nodes and the faulty node,which eliminates the influence of the faulty node on the neighbor ***,an overall distributed adaptive fault isolation and fault tolerance approach is designed according to the local information of neighbor *** stability of the designed approach is proved by constructing a reasonable Lyapunov *** results show that the proposed adaptive control approach has good robustness.

关键词： Fault Isolation Adaptive control Fault Tolerant control Uniformity

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Improved Model-Predictive Current control of Permanent Magnet Synchronous Motor Drives with Designed Cost Function 41

Improved Model-Predictive Current Control of Permanent Magne...

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第41届中国控制会议

作者： Yi Yang Wei Shen Dan Li Luwei Shao State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Model predictive current control(MPCC) is widely applied in electrical drives and power electronics because of its simplicity and ***,steady-state errors are always present because of the inaccurate prediction induced by changing actual *** paper proposes a simple strategy for improving MPCC performance,which reduces steadystate errors and eliminates the additional prediction *** cost function,which is made up of tracking mistakes,is used in MPCC to choose the best switching *** paper introduces a new cost function that also includes actual current *** is a coefficient of actual current errors that enhances the appropriateness of permanent magnet synchronous motor(PMSM) *** results show superior performance of the proposed MPCC to that of conventional MPCC.

关键词： PMSM MPCC Cost function Current errors

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Robust Model Predictive control for PMSM Drives Against Parameter Mismatch 41

Robust Model Predictive Control for PMSM Drives Against Para...

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第41届中国控制会议

作者： Luwei Shao Wei Shen Fan Li Chuanyu Ge State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

As an advanced control method of permanent magnet synchronous motor(PMSM),finite control set model predictive control(FCS-MPC) has earned widespread attention for its advantages of intuitive concept,splendid dynamic performance and capability of handling the constraints and ***,the dependence on the model parameter accuracy is the main barrier for FCS-MPC to be applied to the industry *** order to solve this issue,this paper presents a robust FCS-MPC against parameter *** proposed strategy utilizes the prediction error in the d-and q-axis currents during the past instant to calculate the compensation which should be added to the predicted currents in the next ***,the cost function in the proportional-integral form is designed as ***,the simulation results and experimental results prove the proposed method's effectiveness in suppressing the influence of model parameter mismatch on the control performance of PMSM.

关键词： permanent magnet synchronous motor finite control set model predictive control parameter mismatch

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

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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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LAUNet:A Latent Action Units Network for Facial Expression Recognition 41

LAUNet:A Latent Action Units Network for Facial Expression R...

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第41届中国控制会议

作者： Junlin Zhang Kaoru Hirota Yaping Dai Sijie Yin School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The inter-class similarity of facial expressions is one of the key challenges in Facial Expression Recognition(FER).In this manuscript,a Latent Facial Action Units Network(LAUNet) is proposed for the problem of inter-class similarity of facial expressions in *** proposed method recognizes subtle differences between facial expressions by learning Latent Facial Action Units Features(LAUFs).Specifically,LAUNet is composed of two parts:the Latent Facial Action Units Features Extraction Network(LEN) and the Latent Facial Action Units Selection Network(LSN).Firstly,LEN extracts LAUFs from the feature map of the backbone using the spatial attention ***,taking advantage of the channel attention mechanism,LSN captures the latent relationships between features from LAUFs to select effective features for *** are performed on the dataset after removing the invalid data of non-face images from the original FER2013 *** with some previous state-of-the-art methods,LAUNet achieves the highest accuracy rate of 71.31%.Depending on the backbone,LAUNet can improve the accuracy by up to 5.46% compared to the original architecture of the backbone.

关键词： Facial Expression Recognition Attention Mechanism Computer Vision

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An Adversarial Video Moment Retrieval Algorithm 41

An Adversarial Video Moment Retrieval Algorithm

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第41届中国控制会议

作者： Mohan Jia Zhongjian Dai Yaping Dai Zhiyang Jia School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In one-stage methods for video moment retrieval,the common representations indirectly supervised by boundary prediction fail to fully preserve the inherent characteristic of the video and query,which limits the retrieval *** solve this problem,an Adversarial Video Moment Retrieval(AVMR) algorithm is proposed to learn the common representations with modality invariance and cross-modal *** is implemented through the process of adversarial learning between a feature projector and a modality *** feature projector tries to generate a modality-invariant common representation and to confuse the modality *** modality classifier tries to discriminate between different modalities based on the generated representation by the feature *** triplet constraints are further imposed on the feature projector to preserve the underlying cross-modal semantic structure of *** experimental results show that AVMR surpasses the baseline Attentive Cross-modal Relevance Matching(ACRM) by 1.10% and 1.73% in the "mIoU" metric on two public datasets Charades-STA and TACoS,respectively.

关键词： Video Moment Retrieval Cross-modal Retrieval Deep learning Adversarial Learning

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