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

作者： Shimeng Li Yutong Wang Xiao Wang Feiyue Wang 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 Qingdao China

Parallel Manufacturing is a new manufacturing paradigm in industry, deeply integrating informalization, automation, and artificial intelligence. In this paper we propose a new mechanical design paradigm in Parallel Manufacturing based on ACP method. The key is to regard the design procedure based on artificial design and emulation method as two independent procedures, which can be modeled as a parallel system. The design procedure based on ACP method does not include a real system, which is an inventive extension of the traditional parallel system. This method can be implemented with social information by introducing the definition of SDV, SDM, and Intelligent Design Manager, making it highly adaptive for social manufacturing and Parallel Manufacturing.

关键词： Industries Adaptation models automation Digital twin Design methodology Conferences Emulation

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Parallel System-Based Predictive control for Traffic Signals in Large-Scale Road Networks

Parallel System-Based Predictive Control for Traffic Signals...

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International Conference on Intelligent Transportation

作者： Xingyuan Dai Yan Zhang Yiqing Tang Hongrui Chen Jiaming Sun Fei Cong Yanan Lu Yisheng Lv School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China China Telecom Digital City Technology Co. Ltd Xiong'an China School of Information Engineering China University of Geosciences (Beijing) Beijing China

This paper proposes a parallel system-based predictive control (PPC) method to address the problem of active traffic signal control in large-scale urban road networks. The method leverages simulated artificial transportation systems to infer the short-term future operating states of the real transportation system. During the inference process, an efficient predictive learning-based multi-agent reinforcement learning (RL) algorithm is employed to optimize the cooperative control policies. The optimized policies are then deployed to the real transportation system at fixed intervals to adapt to the real-time and dynamic traffic flow. Experimental results demonstrate that PPC outperforms traditional traffic control methods and some multi-agent RL benchmarks in large-scale road network control scenarios with nearly two hundred intersections, showcasing superior generalization capabilities.

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User Experience Evaluation in Virtual Reality based on Subjective Feelings and Physiological Signals

User Experience Evaluation in Virtual Reality based on Subje...

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2020 Engineering Reality of Virtual Reality Conference, ERVR 2020

作者： Niu, Yunfang Wang, Danli Wang, Ziwei Sun, Fan Yue, Kang Zheng, Nan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Computer and Information Technology Liaoning Normal University Dalian China

At present, the research on emotion in the virtual environment is limited to the subjective materials, and there are very few studies based on objective physiological signals. In this article, the authors conducted a user experiment to study the user emotion experience of virtual reality (VR) by comparing subjective feelings and physiological data in VR and two-dimensional display (2D) environments. First, they analyzed the data of self-report questionnaires, including Self-assessment Manikin (SAM), Positive And Negative Affect Schedule (PANAS) and Simulator Sickness Questionnaire (SSQ). The result indicated that VR causes a higher level of arousal than 2D, and easily evokes positive emotions. Both 2D and VR environments are prone to eye fatigue, but VR is more likely to cause symptoms of dizziness and vertigo. Second, they compared the differences of electrocardiogram (ECG), skin temperature (SKT) and electrodermal activity (EDA) signals in two circumstances. Through mathematical analysis, all three signals had significant differences. Participants in the VR environment had a higher degree of excitement, and the mood fluctuations are more frequent and more intense. In addition, the authors used different machine learning models for emotion detection, and compared the accuracies on VR and 2D datasets. The accuracies of all algorithms in the VR environment are higher than that of 2D, which corroborated that the volunteers in the VR environment have more obvious skin electrical signals, and had a stronger sense of immersion. This article effectively compensated for the inadequacies of existing work. The authors first used objective physiological signals for experience evaluation and used different types of subjective materials to make contrast. They hope their study can provide helpful guidance for the engineering reality of virtual reality. c Society for Imaging Science and Technology 2019

关键词： Virtual reality

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Hand Position Tracking based on Optimized Consistent Extended Kalman Filter

Hand Position Tracking based on Optimized Consistent Extende...

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Chinese control and Decision Conference, CCDC

作者： Lin Tian Wenchao Xue Long Cheng The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The Key Laboratory of Systems and Control National Center for Mathematics and Interdisciplinary Sciences Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665478977

This paper proposes a hand position tracking algorithm based on optimized consistent extended Kalman filter (CEKF). By introducing the previous work of the authors and analyzing the parameter of the original CEKF algorithm, the key parameter that is negatively correlated with the degree of the estimation of uncertain dynamics is determined. Then, two metaheuristic methods, the Genetic Algorithm (GA) and the Particle Swarm Optimization (PSO) are used to optimize the original CEKF algorithm. To quantify the performance of the algorithms, the root-mean-square error (RMSE) is employed as the performance index. Finally, the numerical simulation and practical experiment of the hand position tracking are carried out, and the optimized algorithm achieves 9.52% and 10.94% improvements of the performance, respectively.

关键词： Heuristic algorithms Metaheuristics Stability criteria Estimation Numerical simulation Performance analysis Kalman filters

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Design and Visual Servoing control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy

Design and Visual Servoing Control of a Hybrid Dual-Segment ...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Jian Chen Mingcong Chen Qingxiang Zhao Shuai Wang Yihe Wang Ying Xiao Jian Hu Danny Tat Ming Chan Kam Tong Leo Yeung David Yuen Chung Chan Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China Centre of AI and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences (CAIR-HKISI-CAS) HKSAR Department of Biomedical Engineering City University of Hong Kong HKSAR CAIR-HKISI-CAS HKSAR State Key Laboratory of Multimodal Artificial Intelligence Systems CASIA Beijing China Department of Surgery The Chinese University of Hong Kong HKSAR State Key Laboratory of Management and Control for Complex Systems CASIA Beijing China School of Biomedical Engineering and Imaging Sciences King’s College London London UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot’s ability to adaptively track mobile objects and resist external interference. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery.

关键词： Jacobian matrices Visualization Endoscopes Estimation Interference Predictive models control systems

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Prescriptive Manufacturing in Society 5.0: Human Autonomous Organizations and “On-Demand” Smart Services

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IFAC-PapersOnLine 2024年第3期58卷 139-144页

作者： Xiao Wang Jun Huang Jing Yang Xiaoxing Wang Fei-Yue Wang Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei 230601 China Macau University of Science and Technology Macau 999078 China School of artificial Intelligence University of Chinese Academy of Sciences Beijing 100049 China Beijing SANBODY Technology Company Ltd Beijing 214000 China Qingdao Academy of Intelligent Industries Qingdao 266109 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Society 5.0 addresses human behaviors and their consequences in social management, while emphasizing the integration of Cyber-Physical-Social Spaces to achieve a highly connected and circulated society. Prompted by the various social needs expressed on social media platforms, Prescriptive Manufacturing (PM) emerges as a proactive pre-manufacturing paradigm. This paper delves into PM within the context of Society 5.0. It highlights the development of Human Autonomous Organizations (HAOs) and the delivery of “on-demand” smart services, which are customized to meet both individual and broader societal demands. The social sensing framework of social needs across different social media platforms that enables the identification and anticipation of consumer demands in real-time is illustrated. This data-driven insight leverages artificial intelligence and robotics to facilitate customized design and on-demand production, aligning product creation with real user requirements. Furthermore, we discuss the implementation of human-centered smart services in PM, such as virtual try-on, virtual fitting, personalized retrofit, user-friendly scheduling, and proximity logistics, which not only enhance consumer experience but also optimize resource efficiency By examining the symbiosis between technological advancements and social need fulfillment, this study sheds light on how PM and HAOs can foster a more responsive, sustainable, and inclusive economy in society, ultimately contributing to a higher quality of life and sustainable development goals of Society 5.0.

关键词： Social Needs Sensing Human Autonomous Organization Customized Design personalized fine-tuning prescriptive manufacturing Human-Centric Smart Services

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UNMAS: Multi-Agent Reinforcement Learning for Unshaped Cooperative Scenarios

arXiv

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arXiv 2022年

作者： Chai, Jiajun Li, Weifan Zhu, Yuanheng Zhao, Dongbin Ma, Zhe Sun, Kewu Ding, Jishiyu 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 Xlab The Second Academy of CASIC Beijing100854 China

Multi-agent reinforcement learning methods such as VDN, QMIX, and QTRAN that adopt centralized training with decentralized execution (CTDE) framework have shown promising results in cooperation and competition. However, in some multi-agent scenarios, the number of agents and the size of action set actually vary over time. We call these unshaped scenarios, and the methods mentioned above fail in performing satisfyingly. In this paper, we propose a new method called Unshaped Networks for Multi-Agent systems (UNMAS) that adapts to the number and size changes in multi-agent systems. We propose the self-weighting mixing network to factorize the joint action-value. Its adaption to the change in agent number is attributed to the nonlinear mapping from each-agent Q value to the joint action-value with individual weights. Besides, in order to address the change in action set, each agent constructs an individual action-value network that is composed of two streams to evaluate the constant environment-oriented subset and the varying unit-oriented subset. We evaluate UNMAS on various StarCraft II micro-management scenarios and compare the results with several state-of-the-art MARL algorithms. The superiority of UNMAS is demonstrated by its highest winning rates especially on the most difficult scenario 3s5z-vs-3s6z. The agents learn to perform effectively cooperative behaviors while other MARL algorithms fail in. Copyright © 2022, The Authors. All rights reserved.

关键词： Multi agent systems

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Data-Based Online Optimal control for Multi-player Nonlinear Non-zero-Sum Games Using Recursive Least Squares

Data-Based Online Optimal Control for Multi-player Nonlinear...

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Chinese automation Congress (CAC)

作者： Gaofu Yang Ruizhuo Song Qinglai Wei School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426480

In this paper, optimal control of nonlinear systems for non-zero-sum games is solved with a data-based and recursive least square. The new adjustment law is similar to experience replay algorithm which refer history data and the covariance matrix is introduced for storing historical data, which can avoid the waste of space and time caused by storing a large amount of historical data and collecting data. In tuning process, we use a discount factor which shows how trust to the collected data to guide adjustment law to update the weight. Meanwhile, discount factor can avoid the covariance matrix tending to zero due to accumulation of data. After that, the convergence of the weight is analyzed. Finally, using a simulation to verify the effectiveness of the tuning law.

关键词： automation Optimal control Games Reinforcement learning History Nonlinear systems Covariance matrices

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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 Reinforcement Learning Benchmark for Autonomous Driving in Intersection Scenarios

A Reinforcement Learning Benchmark for Autonomous Driving in...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Yuqi Liu Qichao Zhang Dongbin Zhao The 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 Beijing China

ISBN: (纸本)9781728190495

In recent years, control under urban intersection scenarios has become an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely while obeying the traffic rules. Generally, the autonomous vehicle is supposed to avoid collisions while pursuing better efficiency. The existing work fails to provide a framework that emphasizes the integrity of the scenarios while deploying and testing reinforcement learning(RL) methods. Specifically, we propose a benchmark for training and testing RL-based autonomous driving agents in complex intersection scenarios, which is called RL-CIS. Then, a set of baselines consisting various algorithms are deployed. The test benchmark and baselines provide a fair and comprehensive training and testing platform for the study of RL for autonomous driving in the intersection scenario, advancing RL-based methods for autonomous driving control. The code of our proposed framework can be found at https://***/liuyufi123/complexUrbanScenarios.

关键词： Training Codes Stochastic processes Reinforcement learning Benchmark testing Sampling methods Concrete

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