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42nd Chinese control Conference, CCC 2023

作者： Chen, Minghao Li, En Zhang, Feng Guo, Rui Liang, Zize Zhang, Yuwei Institute of Automation The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Shandong Luneng Intelligence Technology Co. Ltd. Jinan250001 China The State Grid Shandong Electric Power Company Jinan250001 China

ISBN: (纸本)9789887581543

With the remarkable development of the power grid, traditional manual maintenance modes cannot meet the requirement of efficiency and reliability. Robotic technology is applied for power line maintenance to bring down risks and ensure inspectors' safety. Based on the power transmission line maintenance platform, a 5-DOF manipulator is designed to perform the maintenance tasks for the quad bundle conductors. Then the kinematics analysis of the manipulator is analyzed. The manipulator doesn't meet the Pieper criterion. So an improved adaptive particle swarm optimization (APSO) is proposed for figuring out the inverse kinematics. The weights of the pose and the constraint of the prismatic joint are introduced to the algorithm. What's more, half of the particles are initialized around the incipient value of joints and half of the particles are randomly initialized with the constraint of joints in this algorithm. Results show that the manipulator is able to work in the environment of quad bundle conductors and the proposed algorithm can improve the precision of inverse kinematics and prevent the leap of joints. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Maintenance

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Micro-displacement Amplifying Mechanism of a Piezoelectric Single Crystal Actuator and Its Motion Characterization 17

Micro-displacement Amplifying Mechanism of a Piezoelectric S...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhang, Tianlu Du, Zhangming Zhou, Chao Cao, Zhiqiang Wang, Shuo Cheng, Long Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex System Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex System Beijing China

ISBN: (纸本)9781728164151

Piezoelectric single crystal actuator is useful in the micro- and nano-scaled. But the range of the operation is limited. The paper presented the amplifying mechanism of the single crystal actuator in order to amplify the output of the piezoelectric actuator in micro- and nano-applications. Due to the single crystal's expansion when the applied signals decrease, the paper developed the adjustable spring that added to the amplifying mechanism. This paper tested the characteristics of the amplifying mechanism by designed a set of experiment device. The input and output displacement of the amplifying mechanism driven by kinds of signals were measured. It can concluded that the amplifying mechanism achieve the positive and negative displacement response and show its accuracy and stable. These excellent properties of the amplifying mechanism amplify the micro-displacement and expand the operating range of single crystal actuator in micro- and nano-positioning applications. © 2020 IEEE.

关键词： Piezoelectric actuators

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Real-Time Marker Localization Learning for GelStereo Tactile Sensing

Real-Time Marker Localization Learning for GelStereo Tactile...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Liu, Shujuan Cui, Shaowei Zhang, Chaofan Cai, Yinghao Wang, Shuo University of Science and Technology Beijing China 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 School of Artificial Intelligence Beijing100049 China Chinese Academy of Sciences Institute of Automation Beijing100190 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665481090

Visuotactile sensing technology is becoming more popular in tactile sensing, but the effectiveness of the existing marker detection/localization methods remains to be further explored. Instead of contour-based blob detection, this paper presents a learning-based marker localization network for GelStereo visuotactile sensing called Marknet. Specifically, the Marknet presents a grid regression architecture to incorporate the distribution of the GelStereo markers. Furthermore, a marker rationality evaluator (MRE) is modelled to screen suitable prediction results. The experimental results show that the Marknet combined with MRE achieves 93.90% precision for irregular markers in contact areas, which outperforms the traditional contour-based blob detection method by a large margin of 42.32%. Meanwhile, the proposed learning-based marker localization method can achieve better realtime performance beyond the blob detection interface provided by the OpenCV library through GPU acceleration, which we believe will lead to considerable perceptual sensitivity gains in various robotic manipulation tasks. © 2022 IEEE.

关键词： Chemical detection

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GAP: Goal-Aware Prediction with Hierarchical Interactive Representation for Vehicle Trajectory 7th

GAP: Goal-Aware Prediction with Hierarchical Interactive Re...

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7th International Conference on Data Mining and Big Data, DMBD 2022

作者： Li, Ding Zhang, Qichao Lu, Shuai Pan, Yifeng Zhao, Dongbin School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Baidu Inc. Beijing100085 China

ISBN: (纸本)9789811992964

Predicting the future trajectories of surrounding vehicles plays a vital role in ensuring the safety of autonomous driving. It is extremely challenging for the pure imitation method due to the high degree of multimodality and uncertainty in the future. In fact, when driving in most traffic scenarios, vehicles should obey some traffic rules such as "vehicles follow the lane and do not collide with each other". Inspired by this, this paper proposes a goal-aware prediction (GAP) framework to predict the multimodal trajectories, where goals are chosen in the lanes with hierarchical interactive representation and a multi-task loss. Based on the graph-based vectorized input, a novel hierarchical interactive representation module is first designed to obtain the fine-grained goal features, which progressively models interactions between goal-to-goal, goal-to-lane, and lane-to-agent, corresponding to the individual, local and global levels, respectively. Then, an auxiliary collision loss is developed to take into account learning from demonstration and injecting common sense of collision avoidance, and is served as a part of the multi-task loss to guide the generation of multimodal plausible trajectories. In the end, the proposed method is verified on the Baidu In-house Cut-in dataset, which includes more than 370K interactive scenarios collected in the real road testing. The comparative results demonstrate the superior performance of our proposed GAP model than the mainstream prediction methods. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trajectories

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Double Domain Guided Real-Time Low-Light Image Enhancement for Ultra-High-Definition Transportation Surveillance

arXiv

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arXiv 2023年

作者： Qu, Jingxiang Liu, Ryan Wen Gao, Yuan Guo, Yu Zhu, Fenghua Wang, Fei-Yue The School of Navigation The State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology Wuhan430063 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Real-time transportation surveillance is an essential part of the intelligent transportation system (ITS). However, images captured under low-light conditions often suffer the poor visibility with types of degradation, such as noise interference and vague edge features, etc. With the development of imaging devices, the quality of the visual surveillance data is continually increasing, like 2K and 4K, which has more strict requirements on the efficiency of image processing. To satisfy the requirements on both enhancement quality and computational speed, this paper proposes a double domain guided real-time low-light image enhancement network (DDNet) for ultra-high-definition (UHD) transportation surveillance. Specifically, we design an encoder-decoder structure as the main architecture of the learning network. In particular, the enhancement processing is divided into two subtasks (i.e., color enhancement and gradient enhancement) via the proposed coarse enhancement module (CEM) and LoG-based gradient enhancement module (GEM), which are embedded in the encoder-decoder structure. It enables the network to enhance the color and edge features simultaneously. Through the decomposition and reconstruction on both color and gradient domains, our DDNet can restore the detailed feature information concealed by the darkness with better visual quality and efficiency. The evaluation experiments on standard and transportation-related datasets demonstrate that our DDNet provides superior enhancement quality and efficiency compared with the state-of-the-art methods. Besides, the object detection and scene segmentation experiments indicate the practical benefits for higher-level image analysis under low-light environments in ITS. The source code is available at https://***/QuJX/DDNet. Copyright © 2023, The Authors. All rights reserved.

关键词： Image enhancement

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RGB-D Co-attention Network for Semantic Segmentation 15th

RGB-D Co-attention Network for Semantic Segmentation

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15th Asian Conference on Computer Vision, ACCV 2020

作者： Zhou, Hao Qi, Lu Wan, Zhaoliang Huang, Hai Yang, Xu National Key Laboratory of Science and Technology of Underwater Vehicle Harbin Engineering University Harbin China The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783030695248

Incorporating the depth (D) information for RGB images has proven the effectiveness and robustness in semantic segmentation. However, the fusion between them is still a challenge due to their meaning discrepancy, in which RGB represents the color but D depth information. In this paper, we propose a co-attention Network (CANet) to capture the fine-grained interplay between RGB’ and D’ features. The key part in our CANet is co-attention fusion part. It includes three modules. At first, the position and channel co-attention fusion modules adaptively fuse color and depth features in spatial and channel dimension. Finally, a final fusion module integrates the outputs of the two co-attention fusion modules for forming a more representative feature. Our extensive experiments validate the effectiveness of CANet in fusing RGB and D features, achieving the state-of-the-art performance on two challenging RGB-D semantic segmentation datasets, i.e., NYUDv2, SUN-RGBD. © 2021, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

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A Vehicle-to-Vehicle Cooperative control Method for Intersections with Cav- Dedicated Lane

SSRN

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SSRN 2024年

作者： Zhang, Xiqiao Cui, Leqi Yang, Longhai Lv, Yisheng School of Transportation Science and Engineering Harbin Institute of Technology Harbin150090 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

With the development of intelligent connected technology and autonomous driving technology, connected autonomous vehicles (CAV) and connected human-driven vehicles (CHV) will coexist for a long time in the future. The popularization of vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication enables the improvement of CAV platooning efficiency and the joint control of CAV trajectory and signal timing. Therefore, this paper proposes a CAV-dedicated lane-based vehicle-to-vehicle interactive intersection control method, which is suitable for managing mixed traffic flow of CHV and CAV at a single intersection. In the proposed method, the road capacity is enhanced by separating the mixed traffic flow with a CAV-dedicated lane. Through vehicle-to-vehicle interaction and CHV induction, the traffic flow spatiotemporal distribution is regulated by a limited number of controlled vehicles. Furthermore, by jointly controlling CAV trajectory and signal timing, vehicles can efficiently pass through the intersection in the CHV phase without the dedicated CAV phase. The optimization of signal timing and vehicle trajectory at the intersection aims to improve intersection capacity and smooth vehicle trajectories. In addition, the car-following and lane-changing models of CHV are revised based on the prospect theory to validate the performance of platooning strategies under cooperative induction information in practical traffic operations. Simulation results demonstrate that compared to control methods without considering vehicle-to-vehicle interaction, the proposed method in this paper has significant advantages in reducing average vehicle delay and improving intersection efficiency. © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Current Problems and Solutions of Industrial control Network Intrusion Detection: A Brief Survey

Current Problems and Solutions of Industrial Control Network...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Jiang, Tianyu Zhang, Chen Wang, Rui Chai, Senchun Institute of Automation Chinese Academy of Sciences and University of Science and Technology Beijing China Beijing Institute of Technology China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems China Institute of Intelligent Information Processing and Control Beijing Institute of Technology China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

With the advancement of industrial intelligence, the Industrial Internet has been widely used in energy, manufacturing and other important industries. In recent years, security incidents have occurred frequently in industrial control network, which means that maintaining industrial control network security has become more and more important. Intrusion detection technology can actively detect abnormal behavior in the network, and is an important means to ensure the security of industrial control networks. Presently, the intrusion detection technology of industrial control network has problems such as extreme imbalance of classes and redundant interference of traffic characteristics. This paper analyzes these problems and clarifies the existing solutions for different problems in principle. © 2022 IEEE.

关键词： Network security

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Sub-Preferential Rotational Wave Beaming in Structurally Rhombus Re-Entrant Honeycombs

SSRN

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SSRN 2023年

作者： Zhu, Zhiwei Deng, Zichen State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao University Shijiazhuang050043 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'An710072 China

Rotational waves frequently manifest in micro-structured materials and are often coupled with classical shear or longitudinal wave modes. In this study, a distinctive isolated optical branch, exhibiting very high polarization index related to joint rotation motion, is found in dispersion diagram of elastic wave propagation in structurally rhombus re-entrant honeycomb (SSRH). Through an analysis of group velocity, we further explore the wave beaming of the rotational wave propagation within the SRRH, and intriguingly, observe the emergence of sub-preferential wave beaming occurring along the short diagonal directions. This dynamic anisotropic phenomenon stems from the intricate interplay between wave frequency and structural topology. To elucidate the underlying dynamic anisotropy of rotational waves, we propose a simple rigid-spring model and derive an anisotropic coefficient that precisely captures the intricate frequency-structure coupling behavior. The obtained anisotropic coefficient unveils the formation of sub-preferential directions of the rotational wave within the SRRH. Our findings transcend the elucidation of dynamic anisotropy in lattice materials, extending to practical implications encompassing the manipulation of elastic wave propagation and the design of waveguides. © 2023, The Authors. All rights reserved.

关键词： Anisotropy

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Traditional Chinese medicine diagnosis and treatment based on systematics

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iLIVER 2023年第4期2卷 181-187页

作者： Zhanhong Wang Danli Wang Wen Liu Zhongxia Wang The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Beijing Hospital of Traditional Chinese Medicine Capital Medical UniversityBeijing 100010China Department of Nutrition Fifth Medical CenterPLA General HospitalBeijing 100039China

Background:Traditional Chinese Medicine(TCM)is a well-established medical system with a long ***,the overall concept and systematic thinking in TCM are not comprehensively understood and applied in its inheritance and *** This study aims to provide a basic theory for TCM diagnosis using systematics as the guiding *** modern scientific and technological achievements,we aim to explore a new TCM diagnosis ***:We analyzed previous studies on TCM diagnosis and treatment,and reviewed clinical research on TCM diagnosis and treatment from the viewpoint of *** propose a new process model based on systematics for TCM diagnosis and *** is a generalized model that summarizes the process of“establishing an image to express meaning”.Results:The proposed model was implemented in the clinical practice of *** monitored the detailed treatment process of patients in the Department of Liver Diseases at Beijing *** patient underwent a treatment program that lasted 1 year and 45 days,consisting of 12 iterative cycles,each guided by the proposed diagnostic model and tailored to the patient's evolving *** case study validates the effectiveness of the proposed model in the diagnosis and treatment of liver disease in *** therapeutic efficacy has been validated through the examination of both TCM indicators and Western medical auxiliary *** these,the TCM indicators consist of 2 components:tongue diagnosis and pulse ***,the Western medical auxiliary indicators encompass a range of assessments,including whole blood cell analysis,professional liver function examination,a series of liver function assessments,a high-sensitivity hepatitis B pentathlete test,as well as color Doppler ultrasound evaluations of the liver,bile duct,pancreas,spleen,and assessments of liver elasticity,among other related examination *** conclusion,it is evident that the syndrome of l

关键词： Traditional Chinesemedicine systematics Diagnosis and treatment model Liver disease

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