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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Tang, Xi Li, Qingge Tang, Yao Tian, Lan Zheng, Yue Li, Xiangxin Jiang, Naifu Shang, Peng Li, Guanglin Peng, Liang Fang, Peng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems The Shenzhen Engineering Laboratory of Neural Rehabilitation Technology Shenzhen518055 China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350327182

Motion is one of the basic physiological functions of human beings. However, many brain diseases such as stroke may cause different degrees of motor dysfunctions for patients. As a commonly used rehabilitation method, active and passive exercise training may enhance patients' neuromuscular functions and recover their motor abilities. It is known that limb movements are strongly coupled with brain activation but there is currently insufficient exploration on the coupling behaviors from the perspective of informatics. In this study, the coupling relationship between limb movements and brain activation was preliminarily studied based on three healthy subjects. Electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals were synchronously collected during lower limb movements, and time-frequency analysis (TFA) and transfer entropy (TE) analysis were performed to quantitatively study the brain activation behaviors. In the experiments, a desynchronization phenomenon of μ rhythm in EEG was observed during exercise states, and the experimental results demonstrate the activation rule of motor and prefrontal cortexes upon limb movements. Calculations show that there exists a bidirectional flow of information between EEG and cerebral oxygen metabolism signals, but with a difference between different directions. This work may support the rehabilitation for patients with motor dysfunctions with a guidance of quantitative indicators and also benefit the exploration on neuroscience. © 2023 IEEE.

关键词： Electroencephalography

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An Improved Machine Learning Model for Pure Component Property Estimation

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Engineering 2024年第8期39卷 61-73页

作者： Xinyu Cao Ming Gong Anjan Tula Xi Chen Rafiqul Gani Venkat Venkatasubramanian State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhou 310027China Department of Physics Bard College at Simon’s RockGreat BarringtonMA 01230USA PSE for SPEED Company Charlottenlund DK-2920Denmark Sustainable Energy and Environment Thrust The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 510000China Department of Applied Sustainability Széchenyi István UniversityGyör 9026Hungary Complex Resilient Intelligent Systems Laboratory Department of Chemical EngineeringColumbia UniversityNew YorkNJ 10027USA

Information on the physicochemical properties of chemical species is an important prerequisite when performing tasks such as process design and product ***,the lack of extensive data and high experimental costs hinder the development of prediction techniques for these ***,accuracy and predictive capabilities still limit the scope and applicability of most property estimation *** paper proposes a new Gaussian process-based modeling framework that aims to manage a discrete and high-dimensional input space related to molecular structure representation with the group-contribution approach.A warping function is used to map discrete input into a continuous domain in order to adjust the correlation between different *** selection techniques,including prior elicitation and prior predictive checking,are also applied during the building procedure to provide the model with more information from previous research *** framework is assessed using datasets of varying sizes for 20 pure component *** 18 out of the 20 pure component properties,the new models are found to give improved accuracy and predictive power in comparison with other published models,with and without machine learning.

关键词： Group contribution Gaussian process Warping function Prior predictive checking

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Visual Grasping with Spectral Clustering and Heuristic Searching for Robot in Cluttered Environments

Visual Grasping with Spectral Clustering and Heuristic Searc...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Geng, Wenjie Cao, Zhiqiang Tang, Yingbo Wang, Shuo Jing, Fengshui The 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

ISBN: (纸本)9781665481090

Grasping the target object is an essential requirement for the robot to provide better services. It becomes complicated especially in cluttered environments, which still remains challenging. This paper proposes a grasping chain generation solution that enables the robot to grasp the target after other obstruction objects are moved in a good order. SSD is firstly adopted to acquire the information of detectable objects and then Euclidean clustering is employed to obtain the untrained objects. After that, the minimum bounding box of each object is obtained, which is then projected on the plane and represented by a smooth differentiable minimum ellipse. On this basis, an information density kernel function is designed to express the interaction between objects. By abstracting each ellipse as a node of the graph whose edge weight is calculated by this kernel function, the whole scene is described in a form of graph. To simplify the complexity of the scene graph, we use spectral clustering algorithm to classify the objects, and the task-oriented objects graph is constructed according to the objects closely related to the target one. As a result, the searching space is reduced. With space division of task-oriented objects graph, each candidate grasping chain is iteratively extended by using the heuristic searching and the best chain with the shortest length is determined. The proposed method can deal with secondary obstruction and its effectiveness is testified by experiments. © 2022 IEEE.

关键词： Iterative methods

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Steps Toward Industry 5.0:Building“6S”Parallel Industries With Cyber-Physical-Social Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1692-1703页

作者： Xingxia Wang Jing Yang Yutong Wang Qinghai Miao Fei-Yue Wang Aijun Zhao Jian-Ling Deng Lingxi Li Xiaoxiang Na Ljubo Vlacic School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE Macao University of Science and Technology Macao 999078China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China North Automatic Control Technology Institute Taiyuan 030006China China Huaneng Group Co. Ltd.Beijing 100031China Department of Electrical and Computer Engineering Indiana University-Purdue University Indianapolis(IUPUI)IndianapolisIN 46202 USA Department of Engineering University of CambridgeCambridgeCB21PZUK School of Engineering and Built Environment Griffith UniversityGold CoastQLD 4222Australia

Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.

关键词： ACP artificial intelligence CPS CPSS Industry 4.0 Industry 5.0 parallel industries parallel intelligence

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An Automatic Hand Rehabilitation Assessment System: Implementation and Experiments 12

An Automatic Hand Rehabilitation Assessment System: Implemen...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Wang, Yifan Cheng, Long Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The lack of rehabilitation therapists and the increase of disabled individuals have reduced the opportunities for patients to receive well rehabilitation assessment. Towards solving this challenge, establishing a therapist-assistance assessment system to reduce the medical resource consumption is demanding. This paper proposes an automatic hand rehabilitation assessment system based on the Leap Motion vision sensor and a self-designed hand strength measurement device. The assessment algorithm requires the patients to complete every motion given in Fugl-Meyer assessment scale (FMA), and automatically scores the completion level of each motion via recognizing different hand gestures and hand grasping strength. As illustrated by the experiments on ten volunteers, the proposed assessment system can obtain the reliable scores which are consistent with the ones manually obtained via FMA. © 2022 IEEE.

关键词： Patient rehabilitation

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EGCN: Ensemble Graph Convolutional Network for Neural Architecture Performance Prediction

EGCN: Ensemble Graph Convolutional Network for Neural Archit...

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2021 International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2021

作者： Liu, Xin DIng, Zixiang Li, Nannan Chen, Yaran Zhao, Dongbin Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China

ISBN: (纸本)9781665402453

Neural Architecture Search (NAS) is proposed to automatically search novel neural networks. Currently, one typical problem of NAS is that its computation requirements are too high to stand for most researchers. In fact, it consumes a lot of resources to train subnetworks for architecture search. If the performance of each subnetwork can be predicted accurately without training, the computational burden will be alleviated. Graph Convolutional Network (GCN) is proven to have powerful capabilities for topological information perception and extraction. It is suitable to use GCN for predicting neural architecture performance which is related to its *** this paper, we treat GCN as the performance predictor with two improvements. First, a novel neural architecture data processing method named DATAPRO2 is designed to improve GCN's performance. Then, we propose EGCN, a model-based performance predictor which employs ensemble technique on GCN with DATAPRO2 to alleviate the overfitting issue caused by the imbalanced dataset for neural architecture performance prediction. Experimental results on CVPR-2021-NAS-TRACK2 dataset show that EGCN contributes to obtaining better predictive performance than vanilla GCN and other popular predictors. © 2021 IEEE.

关键词： Topology

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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Securing the Future after Pager Bombs:Lifecycle Protection of Smart Devices via Blockchain Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2355-2358页

作者： Fei Lin Qinghua Ni Jing Yang Juanjuan Li Nan Zheng Levente Kovács Radu Prodan Mariagrazia Dotoli Qing-Long Han Fei-Yue Wang the Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China the State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBei-jing 100049China IEEE Obuda University John von Neumann Faculty of InformaticsBecsi Str.96/bH-1034 BudapestHungary the Institute of Information Technology University of Klagenfurt9020 Klagenfurt am WortherseeAustria the Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190

THE Lebanese wireless device explosion incident has drawn widespread attention,involving devices such as pagers,walkie-talkies,and other common devices[1].This event has revealed and highlighted the security vulnerabilities in global supply chains from raw material manufacturing and distribution to the usage of devices and equipment,signaling the onset of a new wave of"supply chain warfare"[2].

关键词： Smart cycle chains

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PVTimesNet: A Hybrid Deep Learning Method for Enhancing Ultra-short-term PV Power Forecasting

PVTimesNet: A Hybrid Deep Learning Method for Enhancing Ultr...

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2024 China Automation Congress, CAC 2024

作者： Wu, Ji Wang, Kai Ma, Wenwen Zhang, Jingxin Wang, Shibo China Electric Power Research Institute Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China State Grid Shandong Electric Power Research Institute Jinan China

ISBN: (纸本)9798350368604

Accurate ultra-short-term photovoltaic (PV) power forecasting is crucial for the real-time scheduling of grid systems. However, the inherent variability of solar energy makes this task extremely challenging. To enhance PV power forecasting, this paper introduces a novel hybrid model named PVTimesNet, designed to harness the strengths of Convolutional Neural Network (CNN) and Long Short-Term Memory Network (LSTM) for effective feature extraction. PVTimesNet consists of two parallel branches: the CNN1d branch, which captures correlations between multiple variables and adjacent time steps, and the LSTM branch, which learns the temporal dependencies within the PV power sequences. The features extracted by both branches are then concatenated and passed through a fully connected layer to generate multi-step PV power forecasts. Experimental results demonstrate that for forecast horizons of 1 to 4 hours, the proposed model significantly outperforms individual models and other CNN-LSTM hybrid structures. Additionally, it exhibits superior performance compared to related methods for longer forecast horizons. © 2024 IEEE.

关键词： Hybrid power

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SIM: A Scenario IMagination Based Deep Reinforcement Learning Method for Outdoor Transportation Environment Exploration 11

SIM: A Scenario IMagination Based Deep Reinforcement Learnin...

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11th IEEE Data Driven control and Learning systems Conference, DDCLS 2022

作者： Li, Haoran Zhang, Qichao Chen, Yaran Zhao, Dongbin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Peng Cheng Laboratory Shenzhen518000 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

Autonomous exploration is very important for robotics, especially for mapping, navigation, and planning in an unknown environment. In recent years, automatic exploration methods in the indoor environment have been extensively studied, but there is little research on exploration in the outdoor transportation environment. Due to the limitations of outdoor traffic rules and the scale of the environment, the methods for the indoor environment are difficult to apply to the transportation environment. Aiming at exploration in the transportation environment, this paper proposes a deep reinforcement learning algorithm based on Scenario IMagination(SIM), which has two important components: 1) a mid-level action space, which combines the classical robot control algorithm, addressing the inefficient learning and unstable navigation of deep reinforcement learning algorithms in automatic exploration. With this action space, the deep reinforcement learning algorithm achieves excellent exploration performance in both normal scale environments and large-scale branchless environments;2) a scenarios buffer, which relieves hard exploration problems of deep reinforcement learning due to serious imbalances of samples in large-scale multibranch scenarios. Compared to the map-less navigation approaches, SIM achieves excellent exploration performance in large-scale multi-branch environments. © 2022 IEEE.

关键词： Navigation

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