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

作者： Zenghua Chen Gang Xiong Sheng Liu Zhen Shen Yue Li State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences 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 Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China School of Automobile Chang'an University Xi'an China

ISBN: (数字)9781665492270

ISBN: (纸本)9781665492287

In order to solve the problem of premature convergence of the basic genetic algorithm when planning the robot running path, the basic genetic algorithm is improved and optimized. Different population initialization methods are used to initialize multiple populations randomly, so as to improve the diversity of populations; Improve the adaptive strategy and elite strategy of crossover and mutation operators to improve the convergence speed of the algorithm; Add the path tortuosity as the planning index in the fitness function to make the planned path smoother, and add constraints to the model to avoid obstacles; Finally, through the transformation of the coding paradigm of the above improved genetic algorithm, it can run on Flink distributed cluster to obtain faster solution speed, so as to meet the efficiency requirements of path planning in large-scale robot cluster system. The optimized algorithm is compared with the basic genetic algorithm. The simulation results show that the improved algorithm is efficient in robot path planning.

关键词： Sociology Clustering algorithms Path planning Planning Trajectory Statistics Collision avoidance

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Research Progress of Parallel control and management

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 355-367页

作者： Gang Xiong Xisong Dong Hao Lu Dayong Shen State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer Science and Technology Beijing Institute of TechnologyBeijing 100081China College of Systems Engineering National University of Defense TechnologyChangsha 410073China

Based on ACP(artificial systems,computational experiments,and parallel execution)methodology,parallel control and management has become a popularly systematic and complete solution for the control and management of complex *** paper focuses on summarizing comprehensive review of the research literature of parallel control and management achieved in the recent years including the theoretical framework,core technologies,and the application *** future research,application directions,and suggestions are also discussed.

关键词： ACP methodology artificial systems computational experiments parallel control parallel management parallel systems

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A Hierarchical Deep Reinforcement Learning Framework for 6-DOF UCAV Air-to-Air Combat

arXiv

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arXiv 2022年

作者： Chai, Jiajun Chen, Wenzhang Zhu, Yuanheng Yao, Zong-Xin Zhao, Dongbin 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 China

Unmanned combat air vehicle (UCAV) combat is a challenging scenario with continuous action space. In this paper, we propose a general hierarchical framework to resolve the within-vision-range (WVR) air-to-air combat problem under 6 dimensions of degree (6-DOF) dynamics. The core idea is to divide the whole decision process into two loops and use reinforcement learning (RL) to solve them separately. The outer loop takes into account the current combat situation and decides the expected macro behavior of the aircraft according to a combat strategy. Then the inner loop tracks the macro behavior with a flight controller by calculating the actual input signals for the aircraft. We design the Markov decision process for both the outer loop strategy and inner loop controller, and train them by proximal policy optimization (PPO) algorithm. For the inner loop controller, we design an effective reward function to accurately track various macro behavior. For the outer loop strategy, we further adopt a fictitious self-play mechanism to improve the combat performance by constantly combating against the historical strategies. Experiment results show that the inner loop controller can achieve better tracking performance than fine-tuned PID controller, and the outer loop strategy can perform complex maneuvers to get higher and higher winning rate, with the generation evolves. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第03期 472-488页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Engineering University of Cambridge Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin University

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent systems. However, due to the lack of autonomous holistic strategies throughout the target shape input, optimal material distribution generation,and fabrication program output, 4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual design. In this study, we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape morphing. By tuning the laser power of each voxel at the nanoscale, the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding process. Using this strategy, the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under stimulation. Furthermore, as a proof-of-concept, a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting, leading to cutting-edge applications in microfluidics, micro-robotics, minimally invasive robotic surgery, and tissue engineering.

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A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces

A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipula...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Mingrui Luo Yunong Tian En Li Minghao Chen Cunfeng Kang Guodong Yang Min Tan 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 Beijing China Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology Chinese Academy of Sciences Beijing China Beijing-University of Technology Beijing China

Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it considers both compactness and operability. By imitating the structure and behavior of a constricting snake, it can be uncoiled sequentially from a coiled storage state, led by the head. In terms of control methods, we propose a multi-layer control system that can make remote operations more accurate and reliable. On the one hand, guiding, segmenting, and following the path overcome the planning ambiguity caused by redundancy. On the other hand, conduit transmission modeling and cable length correction overcome the nonlinear mapping of cable-driven joints and were verified in experiments. Through tests, the mobile integrated system composed of C-CDHRM has an excellent performance in operation precision and accuracy, ensuring safety and accessibility in narrow spaces. Finally, in field experiments, the inspection and cleaning of various types of electrical equipment have been successfully completed, showing excellent application prospects.

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Sharing Mobilized Energy Storage for Temporal-Spatial Coordination of Transportation and Power systems

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Journal of Modern Power systems and Clean Energy 2024年第3期13卷 892-903页

作者： Yuhang Ding Xinjiang Chen Guangchun Ruan Gengyin Li Ming Zhou Jiang Dai Jianxiao Wang State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China State Grid Hangzhou Lin'an District Power Supply Company Hangzhou China Department of Industrial Engineering and Management College of Engineering Peking University Beijing China Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA Power Dispatching and Control Center Guizhou Power Grid Company Guiyang China National Engineering Laboratory for Big Data Analysis and Applications Peking University Beijing China

Mobilized energy storage (MES) can provide a variety of services for power systems, including peak shaving, frequency regulation, and congestion alleviation. In this paper, we develop an MES sharing approach based on temporal-spatial network (TSN) toward systemwide temporal-spatial flexibility enhancement, specifically in which the heavy-duty vehicles can exchange batteries at the energy storage stations connected with power grids. To achieve the temporal-spatial coordination of transportation and power systems, we propose a coordinated scheduling model. A decentralized algorithm based on the improved optimality condition decomposition (OCD) algorithm is proposed to address the information asymmetry between transportation and power systems while enhancing computational efficiency. Case studies based on IEEE 30-/118-bus and transportation systems demonstrate that MESs using the proposed approach can significantly improve the utilization of batteries while reducing operating costs by over 40% compared with stationary energy storages (SESs).

关键词： Transportation Power systems Batteries Planning Costs Power grids Uncertainty

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Fault Detection and Isolation for Multi-agent systems Under Event-Triggered Communication: A Zonotopic Joint Estimation Method

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IEEE Internet of Things Journal 2025年

作者： Tian, Mingliang Guo, Zhihua Wang, Xing Niu, Ben Wang, Xinjun Wang, Ding Wang, Huanqing Shandong Normal University School of Information Science and Engineering Jinan250014 China Beijing University of Technology Faculty of Information Technology Beijing100124 China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China Bohai University Department of Mathematical Science AndAutomatization Institute Jinzhou121000 China

This paper investigates the fault detection and isolation problem of a class of leader-follower multi-agent systems subject to unknown-but-bounded disturbances under an event-triggered communication mechanism (ETCM). Firstly, an adaptive ETCM is proposed to avoid the continuous acquisition of outputs from neighboring agents, thereby reducing the communication burden. Secondly, a joint state and fault observer is designed, and H∞ analysis is utilized to improve the robustness of the observer against external disturbances and event-triggered errors. Next, zonotopic reachability analysis is utilized to derive the estimated intervals of the system state and fault signal, based on which a fault detection and isolation method is developed to determine both when the system is faulty and which agent is at fault. Finally, a fighter formation model is employed to verify the effectiveness of the proposed approach. © 2014 IEEE.

关键词： Multi agent systems

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Design and attitude control of a novel robotic jellyfish capable of 3D motion

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Science China(Information Sciences) 2019年第9期62卷 182-184页

作者： Junzhi YU Xiangbin LI Lei PANG Zhengxing WU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Aquatic creatures such as fish, cetaceans, and jellyfish could inspire innovative designs to improve the ways that manmade systems operate in and interact with aquatic environments [1, 2]. Jellyfish in nature use jet propulsion to move through the water, which have been proven to be one of the most energetically efficient swimmers on the planet [3]. Researchers are making an integrated effort to develop smart actuators to fabricate var-

关键词： bar Design and attitude control of a novel robotic jellyfish capable of 3D motion

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Large Language Model-Driven Urban Traffic Signal control

Large Language Model-Driven Urban Traffic Signal Control

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control Conference (ANZCC), Australian and New Zealand

作者： Yiqing Tang Xingyuan Dai Chen Zhao Qi Cheng 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 School of Mechanical and Electrical Engineering China University of Mining and Technology at Beijing University of Mining and Technology (Beijing) Inner Mongolia Research Institute Ordos China

In recent years, large language models (LLM) have received a lot of attention for their ability to understand, generate and process natural language. By fine-tuning the models on specific domains or using prompts, LLMs can generate summaries tailored to different contexts and requirements. We hope to utilize these advantages of LLM in urban traffic signal control and provide a new paradigm for traffic control. In this paper, we propose a large language model-driven urban traffic control method, which is designed based on artificial systems, computational experiments, parallel execution (ACP) method. There are three traffic control modes, autonomous mode, feedback mode, and human takeover mode. In autonomous mode, we adopt recommendations based on inventory strategy, which can to some extent reduce the acquisition time of traffic control strategies. With the continuous construction and improvement of the strategic library, the efficiency of the system will be further improved. The feedback mode is mainly aimed at traffic scenarios that are not in the library, generating new control strategies and introducing human feedback. The human takeover model ensures that human engineers have direct control over the actual transportation system. LLM drives the interaction between human engineers and computers in the process of traffic control. Assist human engineers in achieving traffic control and improving work efficiency.

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Data Calibration Algorithm for Artificial Lateral Line Sensor of Robotic Fish on Improved LSTM

Data Calibration Algorithm for Artificial Lateral Line Senso...

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第40届中国控制会议

作者： Yaming Ou Zhuoliang Zhang Chao Zhou Bo Zhou School Of Automation Southeast University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

All the time,the measurement of swimming speed has long been a major research challenge in the field of robotic *** artificial lateral line system can accurately measure the speed without modifying the structure of the robot fish too *** this paper,we developed a cantilever artificial lateral line（ALL） sensor based on piezoresistive effect by imitating the "SNs" cell structure of real fish,and established an accurate physical model for it considering the complex underwater boundary layer effect,which is conducive to the selection of hardware parameters such as sensor size and *** addition,a flowmeter-based speed calibration experimental platform was developed,based on which we proposed an "end to end" speed calibration algorithm based LSTM without *** a potential mapping relationship between the electrical signal of the sensor and the speed value of the flowmeter was obtained,which laid a strong foundation for the subsequent measurement of free-swimming speed of robotic fish by artificial lateral line system composed of this sensor.

关键词： velocity measurement robotic fish artificial lateral line sensor data processing

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