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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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Image-based traffic signal control via world models

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Frontiers of Information Technology & Electronic Engineering 2022年第12期23卷 1795-1813页

作者： Xingyuan DAI Chen ZHAO Xiao WANG Yisheng LV Yilun LIN Fei-Yue WANG The State Key Laboratory for Management and Control of Complea Systems Institute of AutomationChineseAcademyof SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China School of Artificial Intelligence Anhui UniversityHefei 230039China Shanghai AI Laboratory Shanghai 200232China

Traffic signal control is shifting from passive control to proactive control, which enables the controller to direct current traffic flow to reach its expected destinations. To this end, an effective prediction model is needed for signal controllers. What to predict, how to predict, and how to leverage the prediction for control policy optimization are critical problems for proactive traffic signal control. In this paper, we use an image that contains vehicle positions to describe intersection traffic states. Then, inspired by a model-based reinforcement learning method, DreamerV2,we introduce a novel learning-based traffic world model. The traffic world model that describes traffic dynamics in image form is used as an abstract alternative to the traffic environment to generate multi-step planning data for control policy optimization. In the execution phase, the optimized traffic controller directly outputs actions in real time based on abstract representations of traffic states, and the world model can also predict the impact of different control behaviors on future traffic conditions. Experimental results indicate that the traffic world model enables the optimized real-time control policy to outperform common baselines, and the model achieves accurate image-based prediction, showing promising applications in futuristic traffic signal control.

关键词： Traffic signal control Traffic prediction Traffic world model Reinforcement learning

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What will robots be like in the future?

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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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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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Zero-Sum Differential Game-Based Fault-Tolerant Tracking control for Nonlinear systems With Multiplicative Failures

Zero-Sum Differential Game-Based Fault-Tolerant Tracking Con...

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Chinese automation Congress (CAC)

作者： Cong Tan Mingduo Lin Hongbing Xia Bo Zhao Yancai Xu School of Systems Science Beijing Normal University Beijing China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

A novel fault-tolerant tracking control (FTTC) approach for affine nonlinear systems is developed from the perspective of zero-sum differential games (ZSDG) to deal with unknown multiplicative actuator failures in this paper. By regarding the control input and the multiplicative actuator failure as two players of a zero-sum game, a performance index function reflecting the trajectory tracking error, the control policy and the unknown failure is established. To handle the tracking Hamilton-Jacobi-Isaacs (HJI) equation associated with the established performance index function, a critic neural network is utilized. Then, the Nash equilibrium solution can be obtained, and the FTTC is achieved. The stability of the faulty nonlinear system is examined through Lyapunov-based approach. Finally, simulation results of a spring system is provided to ensure the utility and the realizability of the ZSDG-based FTTC approach.

关键词： Actuators Fault tolerance Trajectory tracking Simulation Fault tolerant systems Stability criteria Mathematical models

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Hot Spot Detection of Photovoltaic Module Infrared Near-field Image based on Convolutional Neural Network 4

Hot Spot Detection of Photovoltaic Module Infrared Near-fiel...

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2022 4th International Conference on Energy systems and Electrical Power, ICESEP 2022

作者： Fan, Fu Na, ZhiXiong Zhang, ChangZhi Li, HaoRan Tong, ChaoLiu School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China State Grid e-commerce Co. Ltd Beijing100053 China State Grid Tianjin Electric Power Company Tianjin300010 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China

With the installation and use of large-scale photovoltaic systems around the world, the detection of photovoltaic system operation and maintenance has become increasingly important. This research uses a convolutional neural network training model to detect and classify the infrared near-field images of photovoltaic modules from small-scale photovoltaic plants in the laboratory. This model classifies the images into two categories: with and without hot spots, with a classification accuracy of 96.58%. The experimental results show that the convolutional neural network training model has a good classification result. © 2022 institute of Physics Publishing. All rights reserved.

关键词： Convolutional neural networks

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Framework and key Technologies for High-speed Railway Comprehensive Transport Hub

Framework and Key Technologies for High-speed Railway Compre...

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

作者： Gang Xiong Wei Zhang Xiaoming Liu Zhiming Yuan Fenghua Zhu Zundong Zhang State Key Laboratory for Multimodal Artificial Intelligence Systems Chinese Academy of Sciences Beijing China School of Electrical and Control Engineering North China University of Technology Beijing China Communication Signal Research Institute China Academy of Railway Science Beijing China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing China

The surge in urban population density in China has underscored the vital role of high-speed rail and subway systems in urban transit. Comprehensive transportation hubs, notably high-speed rail passenger terminals, have emerged as linchpins for seamless multimodal transit both within and beyond urban centers. China's railway sector vigorously champions the innovative concept of "station-city integration" and has articulated a forward-looking "16-word policy" for modern railway stations: "Seamless integration, environmental friendliness, economic viability, and intelligent accessibility". The judicious allocation of resources and the augmentation of coordination and control capabilities within comprehensive transportation hubs are imperative for the harmonious evolution of urban transit. The implementation of intelligent control systems for transportation hubs has emerged as a pivotal area of research. This study delves into the framework and critical technologies for high-speed railway comprehensive transport hubs, encompassing various components and their intricate interplay, including transport modalities, infrastructure, travelers, environmental factors, and information systems, thus forming a prototypical cyber-physical-social system. Addressing the prevalent and pressing imperative for the advancement of "station-city integration" high-speed railway comprehensive transport hubs, this research endeavor aims to surmount bottleneck challenges and refine the oversight of passenger flows at high-speed rail terminals. The findings hold noteworthy theoretical import and portend promising practical applications.

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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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Path Planning of Mobile Robot Based on an Improved Genetic Algorithm

Path Planning of Mobile Robot Based on an Improved Genetic A...

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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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An Earth Observation Satellite Mission Planning Method Based on Deep Q-Learning 6

An Earth Observation Satellite Mission Planning Method Based...

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6th International Symposium on Computer and Information Processing Technology, ISCIPT 2021

作者： Chen, Tianyuan Wang, Hongfei Liu, Hao Wu, Peng University of Chinese Academy of Sciences Key Laboratory of Space Utilization Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence Beijing China

ISBN: (纸本)9781665441377

With the increasing number of earth observation satellites and observation demands, satellite mission planning is facing huge challenges. For traditional satellite mission planning methods, there are problems such as difficulty in modeling, high computational complexity, and low scalability. This paper proposes a satellite mission planning method based on Deep Q-Learning. Firstly, a hybrid satellite mission planning model is established that combines the constraint-satisfaction model, the 0-1 knapsack model and the Markov decision model. Then, the decision algorithm based on Deep Q-Learning is used to solve the problem, so that the satellite can make full use of the past mission planning experience to learn the optimal planning strategy. Finally, several traditional satellite mission planning methods-branch and bound algorithm, genetic algorithm, simulated annealing algorithm are compared, and various performances of the algorithms are tested and analyzed through simulation experiments. The superiority of this method is verified. © 2021 IEEE.

关键词： Satellites

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