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2021 China automation Congress, CAC 2021

作者： Li, Hongyang Wei, Qinglai Wang, Fei-Yue The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426473

A novel parallel output regulation method is presented in this paper. The framework of the parallel output regulation problem is first introduced. Then, the existence of parallel controller is analyzed detailly in the situation that only the measurable information is obtained. Finally, the simulation example is given to show the performance of the presented method. © 2021 IEEE

关键词： Continuous time systems

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Parallel Manufacturing for Industrial Metaverses:A New Paradigm in Smart Manufacturing

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2063-2070页

作者： Jing Yang Xiaoxing Wang Yandong Zhao The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Beijing SANBODY Technology Company LtdBeijing 214000China North Automatic Control Technology Institute Taiyuan 030006China

To tackle the complexity of human and social factors in manufacturing systems, parallel manufacturing for industrial metaverses is proposed as a new paradigm in smart manufacturing for effective and efficient operations of those systems, where Cyber-Physical-Social systems(CPSSs) and the Internet of Minds(Io M) are regarded as its infrastructures and the "Artificial systems", "Computational experiments"and "Parallel execution"(ACP) method is its methodological foundation for parallel evolution, closed-loop feedback, and collaborative optimization. In parallel manufacturing, social demands are analyzed and extracted from social intelligence for product R&D and production planning, and digital workers and robotic workers perform the majority of the physical and mental work instead of human workers, contributing to the realization of low-cost, high-efficiency and zero-inventory manufacturing. A variety of advanced technologies such as Knowledge automation(KA), blockchain, crowdsourcing and Decentralized Autonomous Organizations(DAOs) provide powerful support for the construction of parallel manufacturing, which holds the promise of breaking the constraints of resource and capacity, and the limitations of time and space. Finally, the effectiveness of parallel manufacturing is verified by taking the workflow of customized shoes as a case,especially the unmanned production line named Flex Vega.

关键词： Parallel Manufacturing Digital Workers CPSS Smart Manufacturing Industrial Metaverses

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AUTOSIM:Automated Urban Traffic Operation Simulation via Meta-Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1871-1881页

作者： Yuanqi Qin Wen Hua Junchen Jin Jun Ge Xingyuan Dai Lingxi Li Xiao Wang Fei-Yue Wang Zhejiang Lab Hangzhou 310030China ECARX Technology Co. Ltd.Shanghai 201811China IEEE Zhejiang Supcon Information Company Ltd. Hangzhou 310052China the State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Indiana University-Purdue University Indianapolis(IUPUI) IndianapolisIndiana 46202 USA School of Artificial Intelligence Anhui UniversityHefei 230039China

Online traffic simulation that feeds from online information to simulate vehicle movement in real-time has recently seen substantial advancement in the development of intelligent transportation systems and urban traffic *** has been a challenging problem due to three aspects:1)The diversity of traffic patterns due to heterogeneous layouts of urban intersections;2)The nature of complex spatiotemporal correlations;3)The requirement of dynamically adjusting the parameters of traffic models in a real-time *** cater to these challenges,this paper proposes an online traffic simulation framework called automated urban traffic operation simulation via meta-learning(AUTOSIM).In particular,simulation models with various intersection layouts are automatically generated using an open-source simulation tool based on static traffic geometry *** a meta-learning technique,AUTOSIM enables an automated learning process for dynamic model settings of traffic scenarios featured with different spatiotemporal ***,AUTOSIM is capable of adapting traffic model parameters according to dynamic traffic information in real-time by using a *** computational experiments,we demonstrate the effectiveness of the meta-learningbased framework that is capable of providing reliable supports to real-time traffic simulation and dynamic traffic operations.

关键词： Conditional generative adversarial network signalized urban networks short-term link speed prediction

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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Social relation and physical lane aggregator:integrating social and physical features for multimodal motion prediction

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Journal of Intelligent and Connected Vehicles 2022年第3期5卷 302-308页

作者： Qiyuan Chen Zebing Wei Xiao Wang Lingxi Li Yisheng Lv The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina School of Artificial Intelligence University of Chinese Academy of SciencesBeijingChina Electrical and Computer Engineering Indiana University-Purdue University IndianapolisIndianapolisIndianaUSA Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina and School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijingChina

Purpose–The purpose of this paper aims to model interaction relationship of traffic agents for motion prediction,which is critical for autonomous *** is obvious that traffic agents’trajectories are influenced by physical lane rules and agents’social ***/methodology/approach–In this paper,the authors propose the social relation and physical lane aggregator for multimodal motion prediction,where the social relations of agents are mainly captured with graph convolutional networks and self-attention mechanism and then fused with the physical lane via the self-attention ***–The proposed methods are evaluated on the Waymo Open Motion Dataset,and the results show the effectiveness of the proposed two feature aggregation modules for trajectory ***/value–This paper proposes a new design method to extract traffic interactions,and the attention mechanism is used in each part of the model to extract and fuse different relational features,which is different from other methods and improves the accuracy of the LSTM-based trajectory prediction method.

关键词： Deep learning Machine learning Autonomous driving Trajectory prediction

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When Does Sora Show:The Beginning of TAO to Imaginative Intelligence and Scenarios Engineering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 809-815页

作者： Fei-Yue Wang Qinghai Miao Lingxi Li Qinghua Ni Xuan Li Juanjuan Li Lili Fan Yonglin Tian Qing-Long Han School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Department of Electrical and Computer Engineering Indiana University-Purdue University IndianapolisIndianapolisIN 46202USA Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

DURING our discussion at workshops for writing“What Does ChatGPT Say:The DAO from Algorithmic Intelligence to Linguistic Intelligence”[1],we had expected the next milestone for Artificial Intelligence(AI)would be in the direction of Imaginative Intelligence(II),i.e.,something similar to automatic wordsto-videos generation or intelligent digital movies/theater technology that could be used for conducting new“Artificiofactual Experiments”[2]to replace conventional“Counterfactual Experiments”in scientific research and technical development for both natural and social studies[2]-[6].Now we have OpenAI’s Sora,so soon,but this is not the final,actually far away,and it is just the beginning.

关键词： something Intelligence replace

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AI4S Based on DeSci: Reference Model and Research Issues

AI4S Based on DeSci: Reference Model and Research Issues

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IEEE International Conference on systems, Man and Cybernetics

作者： Wenwen Ding Juanjuan Li Rui Qin Sangtian Guan Fei-Yue Wang Faculty of Innovation Engineering Macau University of Science and Technology Macau China The State Key Laboratory for Management and Control of Complex Systems The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

The rise of Artificial Intelligence for Science (AI4S) has highlighted the importance and urgency of ensuring open-ness, fairness, impartiality, diversity, and sustainability in scientific systems. Existing scientific systems, referred to as Centralized Science (CeSci), are built on centralized organizational structures and top-down institutional frameworks, which are lagging behind the development and practical requirements of AI4S. To address these limitations, AI4S needs to embrace a new scientific organizational and operational paradigm, namely Decentralized Science (DeSci). It can provide strong support to AI4S via effectively addressing issues such as information silos, biases, unfair distribution, and monopolies and promoting multidisciplinary, interdisciplinary, and trans disciplinary cooperation in science. Based on these considerations, this paper presents the framework of AI4S based on DeSci and explores its potential application scenarios and research issues. The research can provide effective guidance for the development of scientific systems.

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NA-CPG: A robust and stable rhythm generator for robot motion control

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Biomimetic Intelligence & Robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Visual Grasping with Spectral Clustering and Heuristic Searching for Robot in Cluttered Environments

Visual Grasping with Spectral Clustering and Heuristic Searc...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Geng, Wenjie Cao, Zhiqiang Tang, Yingbo Wang, Shuo Jing, Fengshui The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

Grasping the target object is an essential requirement for the robot to provide better services. It becomes complicated especially in cluttered environments, which still remains challenging. This paper proposes a grasping chain generation solution that enables the robot to grasp the target after other obstruction objects are moved in a good order. SSD is firstly adopted to acquire the information of detectable objects and then Euclidean clustering is employed to obtain the untrained objects. After that, the minimum bounding box of each object is obtained, which is then projected on the plane and represented by a smooth differentiable minimum ellipse. On this basis, an information density kernel function is designed to express the interaction between objects. By abstracting each ellipse as a node of the graph whose edge weight is calculated by this kernel function, the whole scene is described in a form of graph. To simplify the complexity of the scene graph, we use spectral clustering algorithm to classify the objects, and the task-oriented objects graph is constructed according to the objects closely related to the target one. As a result, the searching space is reduced. With space division of task-oriented objects graph, each candidate grasping chain is iteratively extended by using the heuristic searching and the best chain with the shortest length is determined. The proposed method can deal with secondary obstruction and its effectiveness is testified by experiments. © 2022 IEEE.

关键词： Iterative methods

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An Automatic Hand Rehabilitation Assessment System: Implementation and Experiments 12

An Automatic Hand Rehabilitation Assessment System: Implemen...

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12th International Conference on CYBER Technology in automation, control, and Intelligent systems, CYBER 2022

作者： Wang, Yifan Cheng, Long Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The lack of rehabilitation therapists and the increase of disabled individuals have reduced the opportunities for patients to receive well rehabilitation assessment. Towards solving this challenge, establishing a therapist-assistance assessment system to reduce the medical resource consumption is demanding. This paper proposes an automatic hand rehabilitation assessment system based on the Leap Motion vision sensor and a self-designed hand strength measurement device. The assessment algorithm requires the patients to complete every motion given in Fugl-Meyer assessment scale (FMA), and automatically scores the completion level of each motion via recognizing different hand gestures and hand grasping strength. As illustrated by the experiments on ten volunteers, the proposed assessment system can obtain the reliable scores which are consistent with the ones manually obtained via FMA. © 2022 IEEE.

关键词： Patient rehabilitation

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