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Hybrid-augmented intelligence： collaboration and cognition

Frontiers of Information Technology & Electronic Engineering 2017年第2期18卷 153-179页

作者： Nan-ning ZHENG Zi-yi LIU Peng-ju REN Yong-qiang MA Shi-tao CHEN Si-yu YU Jian-ru XUE Ba-dong CHEN Fei-yue WANG Institute of Artificial Intelligence and Robotics Xi ' an Jiaotong University Xi ' an 710049 China National Engineering Laboratory of Visual Information Processing Applications Xi 'an Jiaotong University Xi'an 710049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

The long-term goal of artificial intelligence （AI） is to make machines learn and think like human beings. Due to the high levels of uncertainty and vulnerability in human life and the open-ended nature of problems that humans are facing, no matter how intelligent machines are, they are unable to completely replace humans. Therefore, it is necessary to introduce human cognitive capabilities or human-like cognitive models into AI systems to develop a new form of AI, that is, hybrid-augmented intelligence. This form of AI or machine intelligence is a feasible and important developing model. Hybrid-augmented intelligence can be divided into two basic models： one is human-in-the-loop augmented intelligence with human-computer collaboration, and the other is cognitive computing based augmented intelligence, in which a cognitive model is embedded in the machine learning system. This survey describes a basic framework for human-computer collaborative hybrid-augmented intelligence, and the basic elements of hybrid-augmented intelligence based on cognitive computing. These elements include intuitive reasoning, causal models, evolution of memory and knowledge, especially the role and basic principles of intuitive reasoning for complex problem solving, and the cognitive learning framework for visual scene understanding based on memory and reasoning. Several typical applications of hybrid-augmented intelligence in related fields are given.

关键词： Human-machine collaboration Hybrid-augmented intelligence Cognitive computing Intuitivereasoning Causal model Cognitive mapping Visual scene understanding Self-driving cars

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Euler-precision ZED formula 3NgPED-G extended to future minimization with theoretical guarantees and numerical experiments 2

Euler-precision ZED formula 3NgPED-G extended to future mini...

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2nd IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2017

作者： Zhang, Yunong Gong, Huihui Li, Jian Huang, Huanchang Yang, Min School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Reseach Institute Shunde528300 China

ISBN: (纸本)9781467389778

In this paper, we propose and investigate a new Euler-precision 3-node g-proportional finite difference formula [also named Zhang finite difference (ZFD) formula 3NgPFD-G], which achieves an error pattern of O(g), where g denotes the sampling gap. Moreover, the proposed formula is extended to future minimization (FM). Specifically, the ZFD formula 3NffPFD-G and its extension to discretize continuous-time Zhang neural network (CTZNN) model for solving FM are first of all put forward. Secondly, the ZFD formula 3NgPFD-G is proved to effectively approximate the 1st-order derivative by Taylor expansion, and results of discrete-time Zhang neural network (DTZNN) model for solving FM are obtained by adopting the formula above to discretize the CTZNN model. Finally, expository numerical approximation and discretization experiments are conducted and analyzed to illustrate the efficacy and superiority of the ZFD formula 3NgPFD-G and its extension to FM. © 2017 IEEE.

关键词： Neural network models

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Solving ordinary differential equations by ZED 4IgSFD-L method 36

Solving ordinary differential equations by ZED 4IgSFD-L meth...

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36th Chinese control Conference, CCC 2017

作者： Zhang, Yunong Yang, Xuyun Huang, Huanchang Li, Wan Lai, Fangzheng School of Information Science and Technology Sun Yat-sen University Guangzhou510006 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou510640 China SYSU-CMU Shunde International Joint Research Institute Foshan528300 China

ISBN: (纸本)9789881563934

Ordinary differential equations (ODEs) are commonly used in physical system and automation researches, describing the relationship among variables. Hence there are practical significances to discuss and to research the solutions of ODEs. The initial value problem (IVP) is one of the important parts, and we usually use traditional methods, e.g. Euler method, to obtain the solutions. In this paper, we propose a new method named ZFD (Zhang finite difference) 4IgSFD-L method. Note that this method is developed by using ZFD formula 4IgSFD-L (4-instant g-square finite difference with subtype L) based on Taylor expansion, with g denoting sampling gap and g 2). © 2017 Technical Committee on control Theory, CAA.

关键词： Taylor series Differential equations Electronic mail Layout Autonomous systems Trajectory

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Assembly Trajectory Planning of Space Telescope Sub-mirror Module Based on Time Optimal control

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IOP Conference Series: Materials Science and Engineering 2018年第3期439卷

作者： Hao Ziran Jiang Zainan Li Chongyang Yang Fan State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

The space telescope stands for the highest level of a nation's aerospace industry, with its manufacturing and launch remaining a worldwide conundrum. The concept of modularized space telescope is proposed herein, the main structure of the sub-mirror module is designed briefly and the assembly scheme of the main telescope is also provided. Besides, the kinematic equation and working conditions of the space robotic arm used for assembly are given, with the cubic B-spline curves formulating the joint space trajectory. Then, with minimizing the moving time as the objective of optimization, displacement, speed and acceleration as the constraint conditions, a mathematical model for time-optimal trajectory planning is established and the genetic algorithm is used to work out solutions. The emulation result shows that the joint space trajectory of the robotic arm obtained on the premise that all the restraint conditions are met can minimize the robotic arm's moving time.

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Light-Assisted MACE Method for the control of Silicon Nanowire Morphology

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IOP Conference Series: Materials Science and Engineering 2018年第3期394卷

作者： Zhaoqing Dong Weibin Rong Ye Zhang Xijun Deng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

As a kind of one-dimensional nanostructure, silicon nanowires have a very wide range of applications in photovoltaic devices, electrical devices, and biosensors. The morphology control of nanowire arrays greatly affects the performance of nanowire arrays. In this paper, we introduce the light-assisted MACE method to prepare nanowire arrays. Through a large number of experiments, the effects of different light intensities and light wavelengths on the morphology of the formed silicon nanowire arrays are analyzed. At the same time, the degree of aggregation of nanowires is taken as the characterization parameter of the morphological characteristics, the change rule of clustering density and the change rule of the etching rate under different illumination power and wavelength conditions are qualitatively analyzed. Finally, we make a preliminary exploration and analysis of the reasons for this appearance.

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Application of Kalman Filtering Algorithm in Laser Triangulation Measurement

Application of Kalman Filtering Algorithm in Laser Triangula...

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第36届中国控制会议

作者： WEN Xiao-qin LIANG Jun-yuan Ministerial Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and EngineeringSouth China University of Technology

In order to improve the measurement precision of the laser displacement ***,the cause of the error caused by the measured surface features is analyzed from the measurement principle of laser ***,according to the result of error analysis,the Kalman filter algorithm is applied to the sensor data to carry out error ***,the experiments were carried out with LS-100 CP laser displacement sensor and *** experimental results show that the Kalman filter algorithm in the application of laser triangula tion measurement is feasible,effective and have a good practical value.

关键词： Kalman filter algorithm triangulation method data processing measurement precision

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A sliding mode controller design for the robust position control problem of series elastic actuators

A sliding mode controller design for the robust position con...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Sariyildiz, Emre Wang, Huiming Yu, Haoyong Department of Biomedical Engineering Faculty of Engineering National University of Singapore 4 Engineering Drive 3 Singapore117583 Singapore Research Center of Analysis and Control for Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China

ISBN: (纸本)9781509046331

In this paper, a new robust position controller is proposed for Series Elastic Actuators (SEAs) by using Sliding Mode control (SMC) and a second order Disturbance Observer (DOb). The latter estimates not only disturbances but also their first and second order successive derivatives. A simple yet efficient dynamic model of the position control system is derived by using the analogy of a two-mass-spring-damper system. It is of fourth order and suffers from collocated and non-collocated disturbances. The former is directly cancelled by feeding-back its estimation through control input. The latter is suppressed by treating the estimations of disturbances and their first and second order time derivatives in the design of the SMC-based robust position controller. By cancelling disturbances via their estimations, not only the robustness of the position control system is improved but also the control signal chattering is lowered. The proposed robust controller significantly improves the position control performance of SEAs by suppressing plant uncertainties and external disturbances, such as friction, backlash, inertia variation and load. The validity of the proposed robust position controller is verified by giving experimental results of an SEA. © 2017 IEEE.

关键词： Sliding mode control

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Artificial Intelligence Course Design: iSTREAM-based Visual Cognitive Smart Vehicles

Artificial Intelligence Course Design: iSTREAM-based Visual ...

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IEEE Symposium on Intelligent Vehicle

作者： Xiaoyan Gong Yilin Wu Zifan Ye Xiwei Liu State Key Laboratory of Management and Control for Complex Systems Intelligent Education Institute of Qingdao Academy of Intelligent Industries Qingdao China Beijing NO. 13 School Beijing China NO.2 high school of Beijing Normal University Beijing China

ISBN: (纸本)9781538644539

New intelligent era calls for new learners and thus urgently needs a series of artificial intelligence. As a good educational platform for teaching artificial intelligence, smart cars have aroused concern and practices of all parties. However, at present, most courses and training pay more attention to basic knowledge and technology of smart cars, seldom to training based on artificial intelligence curriculum system and comprehensive competency integrating science, technology, art and management. Therefore, based on concept of iSTREAM (intelligence for Science, Technology, robotics, Engineering, Art, and Management) and Raspberry intelligent vehicle teaching platform, this paper introduced a smart car-themed artificial intelligence courses including basic courses, specialized courses, specialized technical courses and elective courses. This course can guide learners to develop smart cars based on visual cognition, in-depth learning, VR and 3D printing integrated artistic creativity. It combines disciplines such as science, technology, art, games and management to upgrade a single knowledge and technology course into a comprehensive competency course that integrates knowledge, skills, emotion and management. Practice in Beijing NO.13 and NO.101 High School shows that this course allows students to experience scientific research process, learn artificial intelligence related knowledge and skills, understand scientific way of thinking and scientific research methods, stimulate learners' responsibility and scientific passion, and cultivate leadership skills through self-learning and partly project management.

关键词： Automobiles Artificial intelligence Art Hardware Software Project management Intelligent vehicles

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The effect of waist twisting on walking speed of an amphibious salamander like robot

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Acta Mechanica Sinica 2016年第3期32卷 546-550页

作者： Xin-Yan Yin Li-Chao Jia Chen Wang Guang-Ming Xie Intelligent Control Laboratory College of EngineeringPeking University Key State Laboratory for Turbulence & Complex Systems College of Engineering Peking University

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.

关键词： Terrestrial locomotion Step length Waist twisting Walking speed

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Fabrication of micro/nanostructures as SERS substrates with the feed-back controlled normal force 17

Fabrication of micro/nanostructures as SERS substrates with ...

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17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

作者： Zhang, Jingran Yan, Yongda Cai, Jianxiong Miao, Peng State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Harbin150080 China Center for Precision Engineering Harbin Institute of Technology Harbin Heilongjiang150001 China School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin Heilongjiang150001 China

ISBN: (纸本)9780995775107

Different from the conventional scratching method, the normal force is feed-back controlled to mechanically machine the micro grooves in the present study. During the process, the normal force is controlled to a constant value which is similar to the mechanism of the commercial Atomic Force Microscope by which to measure the nanoscale sample topography through controlling the tip-sample interaction force. A simple and low cost micro machining device which can control the normal force is established. With the controlled normal force, the effects of the edge forward and face forward machining directions on the grooves' topography is studied. Moreover, the edge forward scratching direction is more suitable for the controlled normal force scratching process than the face forward scratching direction. Finally, the machined microsquares of aluminum alloy (2A12) surface is used as the Surface-enhanced Raman Scattering (SERS) substrate with the Rhodamine 6G (R6G) probe molecule as the detecting target in the present study. Experimental results show that using this simple low cost device, the perfect microstructures can be achieved by the controlled normal force machining method.

关键词： Microstructure

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