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Generative Adversarial Networks:Introduction and Outlook

IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 588-598页

作者： Kunfeng Wang Chao Gou Yanjie Duan Yilun Lin Xinhu Zheng Fei-Yue Wang IEEE State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences Department of Computer Science and Engineering University of Minnesota Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology

Recently, generative adversarial networks(GANs)have become a research focus of artificial intelligence. Inspired by two-player zero-sum game, GANs comprise a generator and a discriminator, both trained under the adversarial learning *** goal of GANs is to estimate the potential distribution of real data samples and generate new samples from that *** their initiation, GANs have been widely studied due to their enormous prospect for applications, including image and vision computing, speech and language processing, etc. In this review paper, we summarize the state of the art of GANs and look into the future. Firstly, we survey GANs' proposal background,theoretic and implementation models, and application ***, we discuss GANs' advantages and disadvantages, and their development trends. In particular, we investigate the relation between GANs and parallel intelligence,with the conclusion that GANs have a great potential in parallel systems research in terms of virtual-real interaction and integration. Clearly, GANs can provide substantial algorithmic support for parallel intelligence.

关键词： ACP approach adversarial learning generative adversarial networks(GANs) generative models parallel intelligence zero-sum game

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Implementation of a multi-link robotic dolphin with two 3-DOF flippers

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Journal of Computational Information systems 2011年第7期7卷 2601-2607页

作者： Shen, Fei Wei, Changming Cao, Zhiqiang Xu, De Yu, Junzhi Zhou, Chao State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

A robotic dolphin with a pair of 3-DOF flippers, two turning units and a multi-link oscillatory propulsion mechanism is designed. The mechanical, hardware and software designs of the robotic dolphin are given. The flippers are fixed on both sides of the anterior body and each one is endowed with the ability of lead-lag, feathering, and up-down motions. The yawing of the robotic dolphin is realized via controlling the two turning units. The multi-link oscillatory propulsion mechanism consists of four joints, in which the first joint adopts the structure of worm gear and shaft driven by a DC motor in order to provide large torque and the other three oscillatory hinge joints are directly driven by servos. The propulsion is achieved via the coordinated controlling of the four joints. The performance of the robotic dolphin is well verified in the experiments. Copyright © 2011 Binary Information Press.

关键词： DC motors

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Evaluation of indocyanine green inhalation to detect air leak sites during video-assisted thoracoscopic surgery: a prospective study

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BMC surgery 2025年第1期25卷 206页

作者： Zhenfan Wang Xue Tian Zihan Wei Hao Xu Kunshan He Chongwei Chi Songjing Zhao Ruiheng Jiang Fan Yang Yun Li Jian Zhou Department of Thoracic Surgery Peking University People's Hospital Beijing 100044 China. Department of Anaesthesia Peking University People's Hospital Beijing China. China-Japan Friendship Hospital Beijing China. CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China. Peking University Health Science Center Beijing China. Department of Thoracic Surgery Beijing Aerospace General Hospital Beijing China. Department of Thoracic Surgery Peking University People's Hospital Beijing 100044 China. surgeonli@***. Department of Thoracic Surgery Peking University People's Hospital Beijing 100044 China. zhoujian@***.

BACKGROUND:This study aimed to investigate the feasibility and clinical benefits of indocyanine green (ICG) inhalation for detecting air leak sites during video-assisted thoracoscopic surgery (VATS). METHODS:Between February 2023 and May 2023, a total of 288 patients underwent VATS were enrolled in this study. Among the population, 72 patients received ICG inhalation test following the traditional submersion sealing test. And 216 patients only underwent the submersion sealing test were matched using 1:3 propensity score matching analysis. The results of ICG inhalation test and the clinical outcomes were compared. RESULTS:In the ICG group, 48 air leak sites were detected in 25 patients (25/72, 34.7%). The conventional submersion sealing test identified 30 air leak sites, while the ICG inhalation test detected 47 sites. Among these detected air leak sites, 34 sites were repaired by suturing or stapling. The postoperative air leak rate in the ICG group (20.8%) was significantly lower than the control group (37.0%, P = 0.011). ICG inhalation test was a favorable factor for reducing postoperative air leaks (OR: 0.40; 95%CI: 0.20-0.78; P = 0.008). CONCLUSIONS:The ICG inhalation test facilitates the identification of air leak sites that may have been overlooked in the conventional submersion sealing test. This technique is useful to reduce postoperative air leaks for patients undergoing VATS. TRIAL REGISTRATION:Chinese Clinical Trial Registry: ChiCTR2300067603 on January 13rd 2023.

关键词： Air leaks Indocyanine green Inhalation Video-assisted thoracoscopic surgery

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A Recurrent Attention and Interaction Model for Pedestrian Trajectory Prediction

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1361-1370页

作者： Xuesong Li Yating Liu Kunfeng Wang Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the University of Chinese Academy of SciencesBeijing 100049China College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

The movement of pedestrians involves temporal continuity,spatial interactivity,and random *** a result,pedestrian trajectory prediction is rather *** existing trajectory prediction methods tend to focus on just one aspect of these challenges,ignoring the temporal information of the trajectory and making too many *** this paper,we propose a recurrent attention and interaction(RAI)model to predict pedestrian *** RAI model consists of a temporal attention module,spatial pooling module,and randomness modeling *** temporal attention module is proposed to assign different weights to the input sequence of a target,and reduce the speed deviation of different *** spatial pooling module is proposed to model not only the social information of neighbors in historical frames,but also the intention of neighbors in the current *** randomness modeling module is proposed to model the uncertainty and diversity of trajectories by introducing random *** conduct extensive experiments on several public *** results demonstrate that our method outperforms many that are state-ofthe-art.

关键词： Deep learning long short-term memory(LSTM) recurrent attention and interaction(RAI)model trajectory prediction

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The effect of waist twisting on walking speed of an amphibious salamander like robot

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Acta Mechanica Sinica 2016年第3期32卷 546-550页

作者： Xin-Yan Yin Li-Chao Jia Chen Wang Guang-Ming Xie Intelligent Control Laboratory College of EngineeringPeking University Key State Laboratory for Turbulence & Complex Systems College of Engineering Peking University

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.

关键词： Terrestrial locomotion Step length Waist twisting Walking speed

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Deep reinforcement learning for optimal denial-of-service attacks scheduling

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Science China(Information Sciences) 2022年第6期65卷 98-106页

作者： Fangyuan HOU Jian SUN Qiuling YANG Zhonghua PANG State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology

We consider an optimal denial-of-service(DoS) attack scheduling problem of N independent linear time-invariant processes, where sensors have limited computational capability. Sensors transmit measurements to the remote estimator via a communication channel that is exposed to DoS attackers. However,due to limited energy, an attacker can only attack a subset of sensors at each time step. To maximally degrade the estimation performance, a DoS attacker needs to determine which sensors to attack at each time step. In this context, a deep reinforcement learning(DRL) algorithm, which combines Q-learning with a deep neural network, is introduced to solve the Markov decision process(MDP). The DoS attack scheduling optimization problem is formulated as an MDP that is solved by the DRL algorithm. A numerical example is provided to illustrate the efficiency of the optimal DoS attack scheduling scheme using the DRL algorithm.

关键词： optimal denial-of-service attack scheduling optimization limited energy deep reinforcement learning

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Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake

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Science China(Information Sciences) 2019年第8期62卷 195-197页

作者： Zhibin XUE Jincun LIU Zhengxing WU Sheng DU Shihan KONG Junzhi YU College of Chemical Engineering Qinghai University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Qarhan Salt Lake is rich in mineral resources, such as sodium chloride, potassium, and magnesium [1].At present, liquid mine exploiting is the main exploitation form for the Qarhan Salt Lake. Salt mining ships with mining equipments are widely used to exploit carnallite which is located at the bottom of pools. Conventionally, workmen utilize rude ferric sampler to collect carnallite samples

关键词： USV simulation Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake

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A Learning Optimal control Scheme for Robust Stabilization of a Class of Uncertain Nonlinear systems

A Learning Optimal Control Scheme for Robust Stabilization o...

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第三十二届中国控制会议

作者： WANG Ding LIU Derong LI Hongliang YANG Xiong The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479900305

In this paper, a novel learning optimal control scheme is established to design the robust controller of a class of uncertain nonlinear systems. The robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainty, regulation, and control. Then, the online policy iteration algorithm is presented to solve the Hamilton-Jacobi-Bellman （HJB） equation by introducing a critic neural network. The approximate expression of the optimal control policy can be derived directly. Moreover, the closed-loop system is proved to be uniformly ultimately bounded. The equivalence of the neural-network-based HJB solution of the optimal control problem and the solution of the robust control problem is developed as well. Finally, an example is provided to verify the effectiveness of the constructed approach.

关键词： Adaptive dynamic programming Neural networks Optimal control Robust control Uncertain nonlinear systems

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Direct Adaptive Output Feedback control for MIMO Uncertain Nonlinear Discrete-Time systems Based on Neural Networks

Direct Adaptive Output Feedback Control for MIMO Uncertain N...

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第三十二届中国控制会议

作者： YANG Xiong LIU Derong WANG Ding The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479900305

This paper develops a novel neural-network-based direct adaptive control scheme for a class of multi-input-multioutput uncertain nonlinear discrete-time(DT) systems in the presence of unknown bounded *** employing feedback linearization methods,neural network(NN) approximation can cancel the nonlinearity of the DT ***,the weights of NNs are directly updated online instead of preliminary offline *** addition,unlike most literatures,the condition for persistent excitation is *** on Lyapunov's direct method,both tracking errors and weight estimates are guaranteed to be uniformly ultimately bounded,while keeping the closed-loop system ***,an example is provided to demonstrate the effectiveness of the proposed approach.

关键词： Uncertain nonlinear system Output feedback Multi-input-multi-output Direct adaptive control Neural network

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Hydrodynamic Analysis of a Gliding Robotic Dolphin Based on Computational Fluid Dynamics 35

Hydrodynamic Analysis of a Gliding Robotic Dolphin Based on ...

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第35届中国控制会议

作者： LI Kang YU Junzhi WU Zhengxing TAN Min State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781509009107

This paper presents a concrete and practical hydrodynamic analysis for a hybrid gliding robotic *** order to obtain the accurate hydrodynamic performance of both dolphin-like swimming and gliding motion,a Computational Fluid Dynamics(CFD) method is ***,based on the F1 UENT dynamic mesh interface,a novel dynamic mesh and user-defined function(UDF) are developed to describe the dorsoventral oscillations of the ***,the corresponding turbulent model and SIMPLE algorithm suited to dolphin-like swimming are also meticulously selected for great accuracy and high ***,the FLUENT simulation results reveal the pressure distribution and velocity field distribution around the robotic ***,some important hydrodynamic coefficients including lift coefficients and drag coefficients at different frequencies are also *** simulation results illustrate an expected hydrodynamic performance of the gliding robotic dolphin.

关键词： Gliding Robotic Dolphin Computational Fluid Dynamics(CFD) Dynamic Mesh Hydrodynamic Analysis

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