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从自然灵感角度出发的群体智能集群机器人系统研究综述

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信息与控制 2024年第2期53卷 154-181页

作者：刘金存任崟杰徐战安冬位耀光中国农业大学国家数字渔业创新中心北京100083 农业农村部智慧养殖技术重点实验室北京100083 北京市农业物联网工程技术研究中心北京100083 中国农业大学信息与电气工程学院北京100083

受生物自组织行为启发的群体智能研究近年来发展势头迅猛,以生物自组织行为内在机理为依据可以协助研究者设计出高效的集群系统。本文从生物自组织行为出发对群体智能集群机器人系统的研究成果进行综述,首先解释自然界中生物的部分自组... 详细信息

受生物自组织行为启发的群体智能研究近年来发展势头迅猛,以生物自组织行为内在机理为依据可以协助研究者设计出高效的集群系统。本文从生物自组织行为出发对群体智能集群机器人系统的研究成果进行综述,首先解释自然界中生物的部分自组织行为;其次对生物自组织行为机制所衍生出的群体智能集群机器人系统任务进行归类,总结近年来的研究成果;最后对集群系统当前研究存在的问题以及受生物行为启发的集群机器人系统未来发展趋势进行展望。该综述致力于为广大研究者提供一个新角度思考群体智能集群机器人系统的研究成果以推动相关领域发展。

关键词：自组织群体智能集群机器人系统自然灵感分类学

Design and Realization of a Novel Hybrid-Drive Robotic Fish for Aquaculture Water Quality Monitoring

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Journal of Bionic Engineering 2023年第2期20卷 543-557页

作者： Yiting Ji yaoguang wei Jincun Liu Dong An National Innovation Center for Digital Fishery China Agricultural UniversityBeijing100083China Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural UniversityBeijing100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture China Agricultural UniversityBeijing100083China College of Information and Electrical Engineering China Agricultural UniversityBeijing100083China

Thunniform swimmers(tuna)have a swinging narrow sequence stalk and a moon-shaped tail fin,which performs poorly at slow speed,higher acceleration and turning *** most cases,faster speed and higher maneuverability are mutually rejection for most marine creatures and their robotic *** paper presents a novel hybrid tuna-like swimming robot for aquaculture water quality monitoring,which interleaves faster speed and higher *** robotic prototype emphasizes on streamlining and enhanced maneuverability mechanism designs in conjunction with a narrow caudal propeller to the *** innovative design endows the robot to easily execute the multi-mode swimming gait,including forward swimming,turning,diving/*** capabilities of our robot are validated through a series of indoor swimming pool and field breeding *** robotic fish can achieve a maximum speed up to about 1.16 m/s and a minimum turning radius less than 0.46 Body Lengths(BL)and its maximum turning speed can reach 78.6∘/*** to its high speed,maneuverability and relatively small size,the robotic fish shed light on intelligent monitoring in complex aquatic environments.

关键词： Hybrid-drive biomimetic robot fish Water quality monitoring Multimodal swimming gait

Lightweight Fish Bait Particle Counting Method Based on Pruning and Shift Quantization

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Journal of Beijing Institute of Technology 2023年第3期32卷 313-327页

作者： Siyue Hou Yaqian Wang Bingqian Zhou Dong An yaoguang wei National Innovation Center for Digital Fishery China Agricultural UniversityBeijing 100083China Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural UniversityBeijing 100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture Beijing 100083China College of Information and Electrical Engineering China Agricultural University

In the process of aquaculture,monitoring the number of fish bait particles is of great significance to improve the growth and welfare of *** the counting method based on onvolutional neural network(CNN)achieve good accuracy and applicability,it has a high amount of parameters and computation,which limit the deployment on resource-constrained hardware *** order to solve the above problems,this paper proposes a lightweight bait particle counting method based on shift quantization and model pruning ***,we take corresponding lightweight strategies for different layers to flexibly balance the counting accuracy and performance of the *** order to deeply lighten the counting model,the redundant and less informative weights of the model are removed through the combination of model quantization and *** experimental results show that the compression rate is nearly 9 ***,the quantization candidate value is refined by introducing a power-of-two addition term,which improves the matches of the weight *** analyzing the experimental results,the counting loss at 3 bit is reduced by 35.31%.In summary,the lightweight bait particle counting model proposed in this paper achieves lossless counting accuracy and reduces the storage and computational overhead required for running convolutional neural networks.

关键词： aquaculture deep learning feed particles counting model slimming

Path planning with multiple constraints and path following based on model predictive control for robotic fish

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Information Processing in Agriculture 2022年第1期9卷 91-99页

作者： Yizhuo Mu Jingfen Qiao Jincun Liu Dong An yaoguang wei College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China National Innovation Center for Digital Fishery China Agricultural UniversityBeijing 100083China School of Computing The Australia National UniversityCanberra 2600Australia

This paper discusses the path planning and path following control problems of robotic *** order to avoid obstacles when robotic fish swim in a complex environment,a path plan-ning method based on beetle swarm optimization(BSO)algorithm is *** method considers the influence of the robotic fish’s volume and motion constraints on the path planning task,which can eliminate the collision risk and meet the constraint of the minimum turning radius when the robotic fish obtains the planned *** construct-ing the path following controller,a multilayer perception based model predictive control(MPC)is adopted to design the optimal control method,and the objective function of the optimal control is dynamically adjusted according to the path *** simulation results show that this proposed method can effectively overcome the complexity of robotic fish kinematics modelling and adapt well to the reference paths of different curvatures given by the path planner.

关键词： Path planning Path following Robotic fish Beetle swarm optimization Model predictive control

Review of Simultaneous Localization and Mapping Technology in the Agricultural Environment

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Journal of Beijing Institute of Technology 2023年第3期32卷 257-274页

作者： yaoguang wei Bingqian Zhou Jialong Zhang Ling Sun Dong An Jincun Liu National Innovation Center for Digital Fishery China Agricultural UniversityBeijing 100083China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural UniversityBeijing 100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture Beijing 100083China.

Simultaneous localization and mapping(SLAM)is one of the most attractive research hotspots in the field of robotics,and it is also a prerequisite for the autonomous navigation of *** can significantly improve the autonomous navigation ability of mobile robots and their adaptability to different application environments and contribute to the realization of real-time obstacle avoidance and dynamic path ***,the application of SLAM technology has expanded from industrial production,intelligent transportation,special operations and other fields to agricultural environments,such as autonomous navigation,independent weeding,three-dimen-sional(3D)mapping,and independent *** paper mainly introduces the principle,sys-tem framework,latest development and application of SLAM technology,especially in agricultural ***,the system framework and theory of the SLAM algorithm are introduced,and the SLAM algorithm is described in detail according to different sensor ***,the devel-opment and application of SLAM in the agricultural environment are summarized from two aspects:environment map construction,and localization and navigation of agricultural ***,the challenges and future research directions of SLAM in the agricultural environment are discussed.

关键词： simultaneous localization and mapping(SLAM) agricultural environment agricultural robots environment map construction localization and navigation

Three-dimensional path following control system for net cage inspection using bionic robotic fish

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Information Processing in Agriculture 2022年第1期9卷 100-111页

作者： Yuanrong Chen Jingfen Qiao Jincun Liu Ran Zhao Dong An yaoguang wei College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China National Innovation Centre for Digital Fishery China Agricultural UniversityBeijing 100083China Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture Beijing 100083China Key Laboratory of Agricultural Information Acquisition Technology Ministry of AgricultureBeijing 100083China School of Computing The Australian National UniversityCanberra2601Australia

With the increasing impacts of overfishing and environmental pollution,the deep-sea cage culture of marine fishes has become an important direction of *** this paper,a tuna-like robotic fish with a three-dimensional helix path-following control system is designed for deep-sea net cage *** mimic the flexibility of the fish’s movement,the kinematic model of the robotic fish adopts a tuna-like double-joint design with an addi-tional thruster device at the *** the descending interval control plays a critical role in deep-sea net cage inspection,the control system utilizes the proportion integration differ-entiation(PID)based fuzzy logic control method to control the descending interval and yaw angle during the helix path movement.A polar coordinate path definition method is also proposed to simplify the reference path definition during net cage *** experi-mental results demonstrates that the proposed three-dimensional path-following model can conduct net inspection task in an interferential environment and move along prede-fined reference path.

关键词： Net cage inspection Bionic robotic fish Path following Three-dimensional motion control

Intelligent Information Management in Aquaponics to Increase Mutual Benefits

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Intelligent Information Management 2021年第1期13卷 50-69页

作者： Divas Karimanzira Cai Na Mu Hong yaoguang wei Department of Surface Water and Maritime Systems Fraunhofer IOSB-AST Ilmenau Germany

Aquaponics are feedback and two player systems, in which fish and crops mutually benefit from one another and, therefore require close monitoring, management and control. Vast amount of data and information flow from the aquaponics plant itself with its huge amount of smart sensors for water quality, fish and plant growth, system state etc. and from the stakeholder, e.g., farmers, retailers and end consumers. The intelligent management of aquaponics is only possible if this data and information are managed and used in an intelligent way. Therefore, the main focus of this paper is to introduce an intelligent information management (IIM) for aquaponics. It will be shown how the information can be used to create services such as predictive analytics, system optimization and anomaly detection to improve the aquaponics system. The results show that the system enabled full traceability and transparency in the aquaponics processes (customers can follow what is going on at the farm), reduced water and energy use and increased revenue through early fault detection. In this, paper the information management approach will be introduced and the key benefits of the digitized aquaponics system will be given.

关键词： Intelligent Information Management Double Recirculation Aquaponic System Digitization Monitoring and Remote Diagnosis System Optimization

Dissolved Oxygen Prediction in Apostichopus Japonicus Aquaculture Ponds by BP Neural Network and AR Model

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Dissolved Oxygen Prediction in Apostichopus Japonicus Aquacu...

作者： Feifei Li Daoliang Li yaoguang wei Daokun Ma Qisheng Ding College of Information and Electrical Engineering China Agricultural University

In the process of rearing sea cucumber Apostichopus japonicus,Dissolved Oxygen（DO） concentration adjustment and control is the key point to sea cucumber *** paper proposed both traditional time series method（auto regressive（AR） model） and BP neural network for the DO concentration forecasting in sea cucumber aquaculture *** aim to make four different interval length（0.5 hour,1 hour and 2 hours） prediction of DO concentration in sea cucumber breeding *** DO concentration is the result of many factors,such as water temperature,solar radiation,water level,air temperature,PH and EC value of water,*** different factors have complicated nonlinear relations which are difficult to describe with simple mathematical formula.A BP neural network using water temperature,past time DO concentration and EC value as inputs to make 2 hours ahead DO concentration prediction was constructed in this *** model was also employed to forecast the DO *** show that predictive values of both models are accurate according to the observed *** AR model has better performance in short interval prediction and BP neural network does better in longer interval *** models demonstrated potential for use as an intensive aquaculture management and forecasting tool to predict the near-term DO concentrations.

关键词： DO Concentration Prediction BP Neural Network AR Model Sea Cucumber

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基于中性层偏移的Z型材滚弯成形回弹预测

航空学报 2019年第12期40卷 259-268页

作者：王安恒薛红前杨艳丽魏耀光西北工业大学机电学院西安710072 航空工业成都飞机工业(集团)有限责任公司成都610092

以提高大截面Z型材四轴滚弯成形精度为目的,通过综合考虑材料属性、几何特征和成形半径等因素对回弹的影响,建立了引入中性层偏移的大截面Z型材弯曲回弹解析模型,研究了7075-O和7475-O铝合金Z型材在不同滚弯成形半径下的回弹规律,并进... 详细信息

以提高大截面Z型材四轴滚弯成形精度为目的,通过综合考虑材料属性、几何特征和成形半径等因素对回弹的影响,建立了引入中性层偏移的大截面Z型材弯曲回弹解析模型,研究了7075-O和7475-O铝合金Z型材在不同滚弯成形半径下的回弹规律,并进行滚弯成形实验验证。结果表明,与忽略中性层偏移影响的型材回弹预测经验模型相比,基于中性层偏移的回弹预测模型能够准确预测大截面Z型材的回弹量,在相同的曲率半径下,预测回弹变形的最大相对误差从11.681%减小到3.347%。

关键词： Z型材大截面回弹预测解析模型中性层偏移滚弯成形