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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun shihan kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

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Frontiers of Information Technology & Electronic Engineering 2022年第8期23卷 1217-1228页

作者： Manjun TIAN Xiali LI shihan kong Licheng WU Junzhi YU First Research Institute of the Ministry of Public Security of PRC Beijing 100048China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

To tackle the problem of aquatic environment pollution,a vision-based autonomous underwater garbage cleaning robot has been developed in our *** propose a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object ***,the YOLOv4 algorithm is chosen as a basic neural network framework to perform object *** the purpose of further improvement on the detection accuracy,YOLOv4 is transformed into a four-scale detection *** improve the detection speed,model pruning is applied to the new *** virtue of the improved detection methods,the robot can collect garbage *** detection speed is up to 66.67 frames/s with a mean average precision(mAP)of 95.099%,and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent.

关键词： Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4

The Journey/DAO/TAO of Embodied Intelligence:From Large Models to Foundation Intelligence and Parallel Intelligence

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Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake

自动化学报（英文版） 2024年第6期 1313页

作者： Tianyu Shen Jinlin Sun shihan kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang

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Science China(Information Sciences) 2019年第8期62卷 195-197页

作者： Zhibin XUE Jincun LIU Zhengxing WU Sheng DU shihan kong Junzhi YU College of Chemical Engineering Qinghai University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Qarhan Salt Lake is rich in mineral resources, such as sodium chloride, potassium, and magnesium [1].At present, liquid mine exploiting is the main exploitation form for the Qarhan Salt Lake. Salt mining ships with mining equipments are widely used to exploit carnallite which is located at the bottom of pools. Conventionally, workmen utilize rude ferric sampler to collect carnallite samples

关键词： USV simulation Development and path planning of a novel unmanned surface vehicle system and its application to exploitation of Qarhan Salt Lake

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水下视觉环境感知方法与技术

机器人 2022年第2期44卷 224-235页

作者：喻俊志孔诗涵孟岩北京大学工学院先进制造与机器人系北京100871 中国科学院自动化研究所复杂系统管理与控制国家重点实验室北京100190

有效感知水下环境是水下机器人自主运动与作业的关键。本文首先对水下视觉环境感知的共性问题进行分析,总结了视觉退化和折射畸变两大共性问题对水下视觉成像产生的影响。其次,围绕如何应对上述挑战,分别从水下视觉恢复方法、水下3维视... 详细信息

有效感知水下环境是水下机器人自主运动与作业的关键。本文首先对水下视觉环境感知的共性问题进行分析,总结了视觉退化和折射畸变两大共性问题对水下视觉成像产生的影响。其次,围绕如何应对上述挑战,分别从水下视觉恢复方法、水下3维视觉感知以及水下视野增强方法3个方面对国内外主流的水下视觉环境感知方法的研究现状展开综述。最后,对水下视觉环境感知的未来发展趋势进行展望,重点包括集群化视觉感知、多模态感知信息融合、仿生视觉感知等热点研究方向。

关键词：水下视觉感知水下机器人水下图像恢复水下3维视觉水下视野增强

A Real-time Underwater Robotic Visual Tracking Strategy Based on Image Restoration and Kernelized Correlation Filters

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A Real-time Underwater Robotic Visual Tracking Strategy Base...

Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detection

第30届中国控制与决策会议

作者： shihan kong Xi Fang Xingyu Chen Zhengxing Wu Junzhi Yu University of Chinese Academy of Sciences Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Mechanical Engineering and Automation Beihang university

In this paper, a real-time underwater robotic visual tracking strategy（RUTS） based on underwater image restoration and Kernelized Correlation Filters（KCF） is developed for underwater robots. A real-time and unsupervised advancement scheme（RUAS）, which is utilized in this strategy, performs robustly in restoring underwater images. The KCF, as a high-speed and accurate tracking method on land, is employed in this strategy. To handle the conflict between tracking speed and accuracy, we propose a tracking strategy based on KCF in video sequence restored by RUAS,comparing Histogram of Oriented Gradient（HOG） descriptors and raw pixels gray（RPG） descriptors. We define an index Ac to describe the tracking accuracy and regard the number of frames per second as computing speed. Results of contrast experiments show that the RPG, a much simpler descriptor, can achieve tracking accuracy as precise as HOG,accompanied by an increase of tracking speed up to 36%. Finally, experiments of the KCF-based tracker with RPG on different underwater objects demonstrate the feasibility of the formed RUTS.

关键词： Underwater robotic vision real-time underwater tracking underwater image restoration KCF

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Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detecti...

Note on the Number of Solutions of Cubic Diagonal Equations over Finite Fields

第40届中国控制会议

作者： Manjun Tian Xiali Li shihan kong Licheng wu Junzhi Yu School of Information Engineering Minzu University of China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Dept.Adv.Manuf.Robot. BIC-ESAT College of Engineering Peking University

To tackle the problem of aquatic environment pollution, a vision-based autonomous underwater garbage cleaning robot has been developed in our laboratory. This paper proposes a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object detection. More specifically, the YOLOv4 algorithm is chosen as a basic neural network framework to perform object detection. With the purpose of further improvement on the detection speed, the channel pruning and layer pruning are implemented on the trained YOLOv4 model, while the fine-tuned mechanism assists the pruned model to restore accuracy. In virtue of the improved detection methods, the robot has the ability to collect garbage *** experimental results indicate that the pruned YOLOv4 detection method can still maintain the high performance even though the parameter amount is 7.062% of the original model.

关键词： Object detection aquatic environment garbage cleaning robot modified YOLOv4

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Wuhan University Journal of Natural Sciences 2023年第5期28卷 369-372页

作者： HU Shuangnian WANG shihan LI Yanyan NIU Yujun School of Mathematics and Physics Nanyang Institute of TechnologyNanyang 473004HenanChina Faculty of Science and Technology Beijing Normal University-Hong Kong Baptist University United International CollegeZhuhai 519087GuangdongChina School of Information Engineering Nanyang Institute of TechnologyNanyang 473004HenanChina

Let Fqbe the finite field,q=p^(k),with p being a prime and k being a positive *** F_(q)^(*)be the multiplicative group of Fq,that is F_(q)^(*)=F_(q){0}.In this paper,by using the Jacobi sums and an analog of Hasse-Davenport theorem,an explicit formula for the number of solutions of cubic diagonal equation x_(1)^(3)+x_(2)^(3)+…+x_(n)^(3)=c over Fqis given,where c∈F_(q)^(*)and p≡1(mod 3).This extends earlier results.

关键词： finite field rational point diagonal equations Jacobi sums

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“双碳”背景下我国工业碳达峰预测研究

煤炭经济研究 2022年第11期42卷 47-56页

作者：孔庆宝张欣然唐若馨张诗晗上海电力大学经济与管理学院上海200120

首先利用物料衡算法中详细燃料分类的估算法对全国工业CO_(2)碳排放量进行了测算,基于LMDI模型,计算了各因素对工业碳排放的影响值和贡献率。结果表明:起正向作用的因素依次为经济发展效应、人口规模效应,其中经济发展效应对工业碳排放... 详细信息

首先利用物料衡算法中详细燃料分类的估算法对全国工业CO_(2)碳排放量进行了测算,基于LMDI模型,计算了各因素对工业碳排放的影响值和贡献率。结果表明:起正向作用的因素依次为经济发展效应、人口规模效应,其中经济发展效应对工业碳排放增长的促进作用最大,贡献度达到174.91%,人口规模效应贡献度为15.58%;而能源强度对工业碳排放增长的负向作用最大,贡献度为-174.81%,其次是能源消费结构,贡献度为-87.21%。根据LMDI结果,运用STIRPAT模型对我国2020—2035年工业碳排放量进行预测,得出我国工业碳排放量将在2030年达到峰值,峰值为1088289.478万t。最后从经济发展、能源消费、技术创新等角度对工业实现碳达峰、碳中和提出建议。

关键词：工业碳达峰碳减排 LMDI模型 STIRPAT模型双碳

基于灰色理论与ARIMA模型的股票价格预测

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河南教育学院学报（自然科学版） 2023年第2期32卷 22-27页

作者：郭改文王诗涵河南财政金融学院计算机与人工智能学院河南郑州450046 北京师范大学—香港浸会大学联合国际学院理工科技学院广东珠海519085

利用组合模型对茅台股票价格进行预测。首先通过ADF检验观察价格时间序列是否平稳。其次,选择ARIMA、GM(1,1)、GM-ARIMA回归模型分别对股票价格序列进行拟合。最后,基于误差标准选择GM-ARIMA回归模型对茅台股价进行预测。结果表明,GM-AR... 详细信息

利用组合模型对茅台股票价格进行预测。首先通过ADF检验观察价格时间序列是否平稳。其次,选择ARIMA、GM(1,1)、GM-ARIMA回归模型分别对股票价格序列进行拟合。最后,基于误差标准选择GM-ARIMA回归模型对茅台股价进行预测。结果表明,GM-ARIMA回归模型更能准确地预测茅台股票的股价。

关键词：股票价格茅台 GM(1,1)模型 ARIMA模型 GM-ARIMA回归模型灰色理论