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Investigating the dynamic memory effect of human drivers via ON-LSTM

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Science China(Information Sciences) 2020年第9期63卷 83-93页

作者： Shengzhe DAI Zhiheng LI Li LI Dongpu CAO Xingyuan DAI yilun lin Department of Automation Tsinghua University Shenzhen International Graduate School Tsinghua University Department of Mechanical and Mechatronics Engineering University of Waterloo State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

It is a widely accepted view that considering the memory effects of historical information(driving operations) is beneficial for vehicle trajectory prediction models to improve prediction accuracy. However,many commonly used models(e.g., long short-term memory, LSTM) can only implicitly simulate memory effects, but lack effective mechanisms to capture memory effects from sequence data and estimate their effective time range(ETR). This shortage makes it hard to dynamically configure the most suitable length of used historical information according to the current driving behavior, which harms the good understanding of vehicle motion. To address this problem, we propose a modified trajectory prediction model based on ordered neuron LSTM(ON-LSTM). We demonstrate the feasibility of ETR estimation based on ON-LSTM and propose an ETR estimation method. We estimate the ETR of driving fluctuations and lane change operations on the NGSIM I-80 dataset. The experiment results prove that the proposed method can well capture the memory effects during trajectory prediction. Moreover, the estimated ETR values are in agreement with our intuitions.

关键词： driving behavior memory effect trajectory prediction historical information ON-LSTM

What Does ChatGPT Say:The DAO from Algorithmic Intelligence to linguistic Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 575-579页

作者： Fei-Yue Wang Qinghai Miao Xuan Li Xingxia Wang yilun lin School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China Urban Computing Lab Department of Applied ResearchShanghai AI LaboratoryShanghai 200232China IEEE

THE well-known ancient Chinese philosopher Lao Tzu(老子)or Laozi(6th~4th century BC during the Spring and Autumn period)started his classic Tao Teh Ching《道德经》or Dao De Jing(see Fig.1)with six Chinese characters:"道(Dao)可(Ke)道(Dao)非(Fei)常(Chang)道(Dao)",which has been traditionally interpreted as“道可道,非常道”or"The Dao that can be spoken is not the eternal Dao".

关键词： DAO Intelligence Spring

Generative Adversarial Networks:Introduction and Outlook

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 588-598页

作者： Kunfeng Wang Chao Gou Yanjie Duan yilun lin Xinhu Zheng Fei-Yue Wang IEEE State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences Department of Computer Science and Engineering University of Minnesota Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology

Recently, generative adversarial networks(GANs)have become a research focus of artificial intelligence. Inspired by two-player zero-sum game, GANs comprise a generator and a discriminator, both trained under the adversarial learning *** goal of GANs is to estimate the potential distribution of real data samples and generate new samples from that *** their initiation, GANs have been widely studied due to their enormous prospect for applications, including image and vision computing, speech and language processing, etc. In this review paper, we summarize the state of the art of GANs and look into the future. Firstly, we survey GANs' proposal background,theoretic and implementation models, and application ***, we discuss GANs' advantages and disadvantages, and their development trends. In particular, we investigate the relation between GANs and parallel intelligence,with the conclusion that GANs have a great potential in parallel systems research in terms of virtual-real interaction and integration. Clearly, GANs can provide substantial algorithmic support for parallel intelligence.

关键词： ACP approach adversarial learning generative adversarial networks(GANs) generative models parallel intelligence zero-sum game

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

Functional group differentiation of isomeric solvents enables distinct zinc anode chemistry

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Nano Research Energy 2023年第2期2卷 218-228页

作者： Chao Liu Qing Li yilun lin Zhiquan Wei Yihan Yang Cuiping Han Minshen Zhu Haiyan Zhang Hongfei Li School of Materials and Energy Guangdong University of TechnologyGuangzhou 510006China Songshan Lake Materials Laboratory Dongguan 523808China Department of Materials Science and Engineering City University of Hong KongHong Kong 999077China School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China Faculty of Materials Science and Engineering/Institute of Technology for Carbon Neutrality Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Research Center for Materials Architecturesand Integration of Nanomembranes(MAIN)TU ChemnitzChemnitz 09126Germany

Electrolytes hold the key to realizing reliable zinc(Zn)*** organic molecules have been proven effective in stabilizing Zn anodes;however,irrational comparisons exist due to the uncontrolled molecular weights and functional group *** this work,two“isomeric molecules”:1,2-dimethoxyethane(DME)and 1-methoxy-2-propanol(PM),with identical molecular weights but different functional groups,have been studied as co-solvents in electrolytes,which have delivered distinct electrochemical *** and simulative study indicates the dipole moment induced by the hydroxyl groups in PM(higher molecular polarity than ether groups in DME)reconstructs the space charge region,enhances the concentration of Zn^(2+)in the vicinity of Zn anodes,and in-situ derives different solid electrolyte interphase(SEI)models and electrode-electrolyte interfaces,resulting in exceptional cycling ***,the Zn||Cu cell with PM worked over 2000 cycles with high Coulombic efficiency(CE)of 99.7%.The Zn||Zn symmetric cell cycled over 2000 h at 1 mA·cm^(−2),and showed excellent stability at an ultrahigh current density of 10 mA·cm^(−2)and capacity of 20 mAh·cm^(−2)over 200 h(depth of discharge,DOD of 70%).The Zn||sodium vanadate pouch cell with a high mass loading of 6.3 mg·cm^(−2)and a high capacity of 24 mAh demonstrates superior cyclability after 570 *** work can be a good starting point to provide reliable guidance on electrolyte design for practical aqueous Zn batteries.

关键词： functional group isomeric solvents zinc anode solid electrolyte interphase(SEI)model

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社会计算与计算社会：智慧社会的基础与必然

科学通报 2015年第5期60卷 460-469页

作者：王飞跃王晓袁勇王涛林懿伦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 国防科技大学军事计算与平行系统技术研究中心长沙410073 青岛智能产业技术研究院青岛266109 北京市智能化技术与系统工程技术研究中心北京100080 国防科技大学信息系统工程重点实验室长沙410073 中国科学院云计算产业技术创新与育成中心自动化所东莞研究院东莞523000

基于社会计算,智慧社会可充分利用开放流动的大数据资源,综合协调人、地、事、物和组织等各种要素,形成信息对称、权利对等、扁平化组织的社会结构,推动传统社会管理模式向分布式、集约化、信息化、智能化、全响应的创新社会管理模式的... 详细信息

基于社会计算,智慧社会可充分利用开放流动的大数据资源,综合协调人、地、事、物和组织等各种要素,形成信息对称、权利对等、扁平化组织的社会结构,推动传统社会管理模式向分布式、集约化、信息化、智能化、全响应的创新社会管理模式的转变.为此,必须同时以海量社会传感器网络为基础,以高性能分布式计算为支撑,以知识自动化技术为核心,以虚实互动的平行系统为手段,推动对社会的全面感知、建模、解析、决策及反馈执行,进而实现集舆情感知、平行管理和移动指挥与控制为一体的闭环反馈组态式的社会管理,全面提升其功能与服务水平.

关键词：智慧社会 ACP 社会计算知识自动化闭环反馈组态式管理

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基于天气类型有效识别的太阳辐射推算方法

电力自动化设备 2021年第8期41卷 76-81页

作者：李芬林逸伦王仁奎李春阳王育飞成驰童力上海电力大学电气工程学院上海200090 广东电网公司佛山供电局广东佛山528000 湖北省气象服务中心湖北武汉430205 国网浙江省电力有限公司电力科学研究院浙江杭州310014

基于2010—2011年北京地区逐时辐射及气象资料,提出有效的天气类型识别方法,研究适用于北京地区的水平面直散分离模型并对其进行本地化修正,同时验证目前主流的斜面辐射模型的性能,并建立和评估由各种天气类型对应的最优直散分离与斜面... 详细信息

基于2010—2011年北京地区逐时辐射及气象资料,提出有效的天气类型识别方法,研究适用于北京地区的水平面直散分离模型并对其进行本地化修正,同时验证目前主流的斜面辐射模型的性能,并建立和评估由各种天气类型对应的最优直散分离与斜面辐射模型级联而成的综合模型。结果表明:水平面直散分离模型中,修正Erbs、修正Liu&Jordan模型的预测误差较小;斜面辐射模型预测精度均与天气类型密切相关;将筛选出的组合直散分离模型的输出作为天气细分后斜面辐射模型的输入进行两级级联,对无直、散辐射观测地区的斜面辐射推算及光伏出力预测等具有指导意义。

关键词：散射比斜面辐射修正清晰度指数总云量天气类型

人在回路的混合增强智能在Sawyer的研究与验证

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智能科学与技术学报 2019年第3期1卷 280-286页

作者：付海军陈世超林懿伦熊刚胡斌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 中国科学院大学人工智能学院北京100049 澳门科技大学澳门999078

机器学习根据历史数据的模式预测未来,近年来进行了大量研究并得到了应用,但在处理动态、非完整、非结构化信息上与人类相去甚远。为此,引入人的决策,结合机器学习、知识库,构建了一个人在回路的混合增强智能闭环系统。基于Sawyer协作... 详细信息

机器学习根据历史数据的模式预测未来,近年来进行了大量研究并得到了应用,但在处理动态、非完整、非结构化信息上与人类相去甚远。为此,引入人的决策,结合机器学习、知识库,构建了一个人在回路的混合增强智能闭环系统。基于Sawyer协作机器人搭建了人机融合实验平台,设计了机器人抓取实验。实验结果表明,相比单一机器学习方式,在引入人类智能后,Sawyer在应对非结构化环境下的抓取任务中表现更佳。

关键词：人机融合 Sawyer 协作机器人

面向网联自动驾驶部署的车-路-无人机跨域协同技术

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中国图象图形学报 2024年第11期29卷 3293-3304页

作者：于静茹姚升悦陈喜群林懿伦王飞跃上海人工智能实验室上海200232 浙江大学建筑工程学院杭州310058 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

目的随着车联网技术的发展,网联自动驾驶车辆(connected and autonomous vehicle,CAV)的部署场景变得越来越复杂。为了保证效率和安全,提出一种面向CAV部署的集成无人机和现有路侧基础设施的车—路—无人机跨域协同技术,旨在解决依靠路... 详细信息

目的随着车联网技术的发展,网联自动驾驶车辆(connected and autonomous vehicle,CAV)的部署场景变得越来越复杂。为了保证效率和安全,提出一种面向CAV部署的集成无人机和现有路侧基础设施的车—路—无人机跨域协同技术,旨在解决依靠路侧基础设施支持CAV感知和通信解决方案在部署范围、机动性和感知视角等方面存在一定限制的问题。方法本文设计了基于任务需求和资源约束的双层调度算法,实现无人机资源的灵活调度和智能决策。该算法上层实现任务规划,下层运动规划则根据动力学约束和虚拟场模型生成无人机运动轨迹,采用上、下层反馈机制,动态响应感知和通信需求,给出目标区域无人机的最优部署方案。结果实验模拟混合交通流场景,并估计了不同场景下CAV动态感知和通信需求;通过对比无人机跨域协同方案与现有路侧基础设施辅助方案,结果表明所提方案相比现有方案降低了路侧设备单元(roadside units,RSU)的空闲率,在CAV渗透率为70%时,所提方案在仿真路网和城市路网场景下分别将RSU的空闲率降低了33.82%和31.20%;同时也展示了基于双层调度算法按需调度无人机的流程,验证了该算法的有效性。结论本文所提出的无人机跨域协同的CAV辅助部署方案,对比现有的基础设施辅助方案,具有覆盖范围广、可以按需灵活调度的特点,可以支持CAV大规模部署。

关键词：自动驾驶跨域协同无人机按需调度双层调度算法基于虚拟力场的轨迹规划