检索结果-内蒙古大学图书馆

SSRN 2022年

作者： Zhang, Zhixia Wen, Jie Wang, Hui Cai, Xingjuan Cui, Zhihua Zhang, Wensheng School of Computer Science and Technology Taiyuan University of Science and Technology China School of Information Engineering Nanchang Institute of Technology Nanchang330099 China State Key Laboratory of Intelligent Control and Management of Complex System Institute of Automation Chinese Academy of Sciences China State Key Lab. for Novel Software Technology Nanjing University China

In many-objective optimization problems (MaOPs), it is a difficult task for evolutionary algorithms to balance convergence and diversity while rapidly converging to the Pareto front. As the number of objectives increases, the difficulty of evolutionary algorithms increases with individual selection pressure. To address above problems, we propose a many-objective evolution algorithm assisted by an ideal hyperplane (MaOEA-IH). Firstly, the ideal hyperplane as a reference surface to guide the individual to search the Pareto front, which is established from the extremum of each dimension of the objective space. Secondly, a parallel p -norm mating selection strategy is proposed to improve convergence. In addition, two factors are considered in this strategy: 1) different p -norm are used to measure different spatial scales;2) individual selection uncertainty is defined by incorporating a probabilistic perturbation mechanism. Thirdly, the improved shift-based density estimation strategy is used as the evaluation criterion for environmental selection to improve the convergence and diversity of solution sets and enhance selection pressure. To verify the effectiveness of the proposed algorithm, MAOEA-IH is compared with seven excellent algorithms in three benchmark sets (DTLZ, WFG and MaF). The results show that the proposed MAOEA-IH is highly competitive in solving MaOPs. © 2022, The Authors. All rights reserved.

关键词： Geometry

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S$^{\text{4}}$TP: Social-Suitable and Safety-Sensitive Trajectory Planning for Autonomous Vehicles

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2023年第2期9卷 3220-3231页

作者： Xiao Wang Ke Tang Xingyuan Dai Jintao Xu Quancheng Du Rui Ai Yuxiao Wang Weihao Gu Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui University Hefei China Haomo Technology Company Ltd. Beijing China 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 School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

In public roads, autonomous vehicles (AVs) face the challenge of frequent interactions with human-driven vehicles (HDVs), which render uncertain driving behavior due to varying social characteristics among humans. To effectively assess the risks prevailing in the vicinity of AVs in social interactive traffic scenarios and achieve safe autonomous driving, this article proposes a social-suitable and safety-sensitive trajectory planning (S $^{\text{4}}$ TP) framework. Specifically, S $^{\text{4}}$ TP integrates the Social-Aware Trajectory Prediction (SATP) and Social-Aware Driving Risk Field (SADRF) modules. SATP utilizes Transformers to effectively encode the driving scene and incorporates an AV's planned trajectory during the prediction decoding process. SADRF assesses the expected surrounding risk degrees during AVs-HDVs interactions, each with different social characteristics, visualized as two-dimensional heat maps centered on the AV. SADRF models the driving intentions of the surrounding HDVs and predicts trajectories based on the representation of vehicular interactions. S $^{\text{4}}$ TP employs an optimization-based approach for motion planning, utilizing the predicted HDVs' trajectories as input. With the integration of SADRF, S $^{\text{4}}$ TP executes real-time online optimization of the planned trajectory of AV within low-risk regions, thus improving the safety and the interpretability of the planned trajectory. We have conducted comprehensive tests of the proposed method using the SMARTS simulator. Experimental results in complex social scenarios, such as unprotected left-turn intersections, merging, cruising, and overtaking, validate the superiority of our proposed S $^{\text{4}}$ TP in terms of safety and rationality. S $^{\text{4}}$ TP achieves a pass rate of 100% across all scenarios, surpassing the current state-of-the-art methods Fanta of 98.25% and Predictive-Decision of 94.75%.

关键词： Trajectory Safety Vehicles Trajectory planning Autonomous vehicles Risk management Behavioral sciences

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Autonomous Free-Floating Underwater Assembly control for an Underwater Biomimetic Vehicle-Manipulator system

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IEEE Transactions on Industrial Electronics 2025年

作者： Bai, Xuejian Wang, Yu Lv, Jiaqi Cheng, Long Wang, Shuo Tan, Min Liaoning University of Technology Jinzhou 121001 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing 100190 China Idriverplus Technology Company Ltd. Beijing 100192 China Tsinghua University School of Vehicle and Mobility Beijing 100084 China

In this article, an improved coordinated control method based on the tracking differentiator with a median filter and dynamic surface control was proposed for an autonomous free-floating underwater assembly manipulation. In addition, the disturbances caused by the manipulator’s motion were considered and compensated by a feedforward controller of the manipulator. Furthermore, the inward counter-propagating sinusoidal waves of the biomimetic undulatory-finned propulsors were adopted and a fuzzy logic controller was designed to realize the transformation between the control parameters and the demanded propulsive forces. The stability of the proposed control scheme was proven by the Lyapunov theory. Finally, practical experiments verified that the control scheme can complete the autonomous free-floating underwater assembly manipulation task, which indicated the good feasibility and robustness of the proposed methods. © 1982-2012 IEEE.

关键词： Autonomous free-floating control dynamic surface control (DSC) underwater assembly control underwater biomimetic vehicle-manipulator system (UBVMS)

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Three-dimensional target tracking control for a biomimetic underwater vehicle 30

Three-dimensional target tracking control for a biomimetic u...

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30th International Ocean and Polar Engineering Conference, ISOPE 2020

作者： Bai, Ge Wang, Rui Wang, Yu Wang, Shuo State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781880653845

This paper presents a target tracking control method for a biomimetic underwater vehicle named RobCutt-II. The RobCutt-II is propelled by double undulatory fins which are distributed on both sides. In order to implement target tracking and observation in a certain distance, we propose a method by decoupling the target tracking control problem into distance, heading and depth control problems. Based on this idea, we design a target tracking controller composed of a navigation system, a distance controller, a heading controller, a depth controller and a switching logic controller. The simulation results verify the effectiveness of the proposed method on the biomimetic underwater vehicle. © 2020 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： controllers

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Identifying the spatiotemporal clusters of plague occurrences in China during the Third P Identifying the spatiotemporal clusters of plague occurrences in China during the Third Pandemic andemic

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Integrative Zoology 2020年第1期15卷 69-78页

作者： Zhe SUN Zhibin ZHANG Qiyong LIU Baolei LYU Xiye FANG Shuchun WANG Jianguo XU Lei XU Bing XU Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijingChina Joint Center for Global Change Studies BeijingChina State Key Laboratory of Integrated Management on Pest Insects and Rodents Institute of ZoologyChinese Academy of SciencesBeijingChina State Key Laboratory of Infectious Disease Prevention and Control National Institute for Communicable Disease Control and PreventionChinese Center for Disease Control and PreventionBeijingChina Huayun Sounding Meteorology Technology Corporation BeijingChina Centre for Ecological and Evolutionary Synthesis(CEES) Department of BiosciencesUniversity of OsloOsloNorway

Plague,a devastating infectious disease caused by Yersinia pestis,has killed millions of people in the past and is still active in the natural foci of the world *** the spatiotemporal patterns of plague outbreaks in history is critically important,as it may help to facilitate prevention and control of potential future *** this study,we explored spatiotemporal clusters of human plague occurrences in China using a machine-learning clustering method and reconstructed the potential transmission pattern during the Third Pandemic(1772-1964).We succeeded in identifying 6 clusters in the space domain(2D)and 13 clusters in the spatiotemporal domain(3D).Our results suggest that there were several temporal outbreaks and transmissions of plague in different spatial *** with the spatiotemporal nearest neighbor approach(ST-NNA),this method could allow us to have a clearer look at the spatiotemporal patterns of plague.

关键词： clustering plague transmission spatiotemporal outbreaks Yersinia pestis

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Enhanced mid-latitude warming due to poleward shift of sea salt aerosols in a warmer future

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Science Bulletin 2025年

作者： Yang, Yang Yu, Yang Wang, Yujue Wang, Hailong Russell, Lynn M. Wang, Pinya Liao, Hong State Key Laboratory of Climate System Prediction and Risk Management/Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control/Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology/Joint International Research Laboratory of Climate and Environment Change Nanjing University of Information Science and Technology Nanjing210044 China School of Environmental Science and Engineering Nanjing University of Information Science and Technology Nanjing210044 China Frontiers Science Center for Deep Ocean Multispheres and Earth System Key Laboratory of Marine Environment and Ecology Ministry of Education of China Ocean University of China Qingdao266100 China Atmospheric Climate and Earth Sciences Division Pacific Northwest National Laboratory RichlandWA99352 United States Scripps Institution of Oceanography University of California San DiegoCA92093 United States

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Scenario Engineering for Autonomous Transportation: A New Stage in Open-Pit Mines

arXiv

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arXiv 2024年

作者： Teng, Siyu Li, Xuan Li, Yuchen Li, Lingxi Xuanyuan, Zhe Ai, Yunfeng Chen, Long Hong Kong Baptist University Kowloon999077 Hong Kong BNU-HKBU UIC Zhuhai China The Department of Mathematics and Theories Peng Cheng Laboratory Shenzhen518000 China Indianapolis United States Guangdong Provincial Key Laboratory IRADS BNU-HKBU UIC Zhuhai519087 China The University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory of Multimodal Artificial Intelligence Systems The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China WAYTOUS Inc. Beijing100083 China Shenzhen518107 China

In recent years, open-pit mining has seen significant advancement, the cooperative operation of various specialized machinery substantially enhancing the efficiency of mineral extraction. However, the harsh environment and complex conditions in open-pit mines present substantial challenges for the implementation of autonomous transportation systems. This research introduces a novel paradigm that integrates Scenario Engineering (SE) with autonomous transportation systems to significantly improve the trustworthiness, robustness, and efficiency in open-pit mines by incorporating the four key components of SE, including Scenario Feature Extractor, Intelligence and Index, Calibration and Certification, and Verification and Validation. This paradigm has been validated in two famous open-pit mines, the experiment results demonstrate marked improvements in robustness, trustworthiness, and efficiency. By enhancing the capacity, scalability, and diversity of autonomous transportation, this paradigm fosters the integration of SE and parallel driving and finally propels the achievement of the '6S' objectives. Copyright © 2024, The Authors. All rights reserved.

关键词： Efficiency

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What will robots be like in the future?

引用

National Science Review 2019年第5期6卷 1059-1061页

作者： Yanfeng Lu Weijie Zhao the State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences NSR

Robots are changing our lives:sweeping robots patrol our living rooms; interactive robots accompany our children; industrial robots assemble vehicles; rescue robots search and save lives in catastrophes; medical robots perform surgeries in *** better understand robots’challenges and impact, National Science Review (NSR) interviewed Professor Toshio Fukuda, who is one of the world’s most representative robotics experts and has developed a number of bionic robots and micro/nano-robots.

关键词： NSR China What will robots be like in the future

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Event-triggered Consensus control of Heterogeneous Multi-agent systems: Model- and Data-based Analysis

arXiv

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arXiv 2022年

作者： Wang, Xin Sun, Jian Wang, Gang Chen, Jie The School of Automation The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

This article deals with model- and data-based consensus control of heterogenous leader-following multi-agent systems (MASs) under an event-triggering transmission scheme. A dynamic periodic transmission protocol is developed to significantly alleviate the transmission frequency and computational burden, where the followers can interact locally with each other approaching the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived in form of linear matrix inequalities (LMIs), as well as a design method for obtaining the distributed controllers and event-triggering parameters. Upon collecting noise-corrupted state-input measurements during open-loop operation, a data-driven leader-following MAS representation is presented, and employed to solve the data-driven consensus control problem without requiring any knowledge of the agents' models. This result is then extended to the case of guaranteeing an H∞ performance. A simulation example is finally given to corroborate the efficacy of the proposed distributed event-triggering scheme in cutting off data transmissions and the data-driven design method. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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Conservative-Progressive Collaborative Learning for Semi-supervised Semantic Segmentation

arXiv

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arXiv 2022年

作者： Fan, Siqi Zhu, Fenghua Feng, Zunlei Lv, Yisheng Song, Mingli Wang, Fei-Yue The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Tsinghua University Beijing China The College of Computer Science and Technology Zhejiang University Hangzhou China

Pseudo supervision is regarded as the core idea in semi-supervised learning for semantic segmentation, and there is always a tradeoff between utilizing only the high-quality pseudo labels and leveraging all the pseudo labels. Addressing that, we propose a novel learning approach, called Conservative-Progressive Collaborative Learning (CPCL), among which two predictive networks are trained in parallel, and the pseudo supervision is implemented based on both the agreement and disagreement of the two predictions. One network seeks common ground via intersection supervision and is supervised by the high-quality labels to ensure a more reliable supervision, while the other network reserves differences via union supervision and is supervised by all the pseudo labels to keep exploring with curiosity. Thus, the collaboration of conservative evolution and progressive exploration can be achieved. To reduce the influences of the suspicious pseudo labels, the loss is dynamic re-weighted according to the prediction confidence. Extensive experiments demonstrate that CPCL achieves state-of-the-art performance for semi-supervised semantic segmentation. Copyright © 2022, The Authors. All rights reserved.

关键词： Semantic Segmentation

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