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2021 China Automation Congress, CAC 2021

作者： Pei, Fujun Miao, Zhu Wang, Jinghui Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (纸本)9781665426473

It is well known that the traditional visual SLAM systems have performed well in a relatively ideal environment, but for the dynamic environment, there are some problems in the instance segmentation algorithm such as incomplete segmentation or wrong segmentation which will result in outliers. Aiming at this problem, this paper proposed a dynamic SLAM system using Histogram-based Outlier Score (HBOS) to improve the reprojection residual constraint to increase the robustness in removing outliers. In this method, HBOS method is used to process the reprojection residual, and the feature association data obtained after the segmentation mask processing is further filtered to improve the robustness. This method can combine the semantic segmentation network with traditional geometric methods to solve the data association problem caused by the wrong information generated from the dynamic objects. To verify the effectiveness of the proposed method, the experiment is carried out on the public TUM data set and the results show that the proposed method improves the accuracy of SLAM positioning in the dynamic environment. © 2021 IEEE

关键词： Statistics

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Efficient Hierarchical Exploration with An Active Subgoal Generation Strategy

Efficient Hierarchical Exploration with An Active Subgoal Ge...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Xu, Xin Zuo, Guoyu Li, Jiangeng Huang, Gao The Faculty of Information Technology Beijing University of Technology Beijing100124 China The Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China Faculty of Information Beijing University of Technology Beijing100124 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9781665481090

Goal-conditioned hierarchical reinforcement learning (HRL) is a promising approach in long-horizon and complex tasks. It has been successfully used by decomposing tasks via subgoals. However, the existing goal-conditioned HRL methods often suffer from training inefficiency in the long-horizon tasks with sparse external rewards. For this problem, this paper proposes a novel framework that can train high-level policy efficiently with an effective sub goal generation method. The key component of the framework is an active subgoal generation strategy which consists of (a) an efficient high-level policy learning mechanism and (b) two measures of novelty and coverage for filtering effective subgoals. We also introduce the HER mechanism to the framework to solve the problem of sparse reward in the environment. Building upon the proposed framework, this paper develops an active hierarchical exploration strategy with an efficient subgoal generation method. We test our method on a variety of continuous control tasks. Experimental results demonstrate that the strategy outperforms the state-of-the-art HRL approaches. © 2022 IEEE.

关键词： Reinforcement learning

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Construction and application of biological visual nerve computing model in robot 5

Construction and application of biological visual nerve comp...

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5th Asian Conference on Artificial intelligence Technology, ACAIT 2021

作者： Yu, Naigong Yu, Hejie Qiu, Tong Lin, Jia Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Faculty of Information Technology Beijing China

ISBN: (纸本)9781665426305

Biological vision is very effective and accurate in scene classification and recognition. Based on this, this paper proposes a biological visual neural computing model based on the anatomical structure of rat brain, which is characterized by: constructing a biological visual scene memory model (visual word bag), imitating the biological brain's storage of environmental scene information, and calculating the similarity between the current scene information and the visual template;designing and constructing the object details located in the lateral entorhinal cortex and the peripheral olfactory cortex Cell discharge model. Experimental results show that the proposed model can effectively extract image features and generate visual word bag model based on image features. Compared with ratslam scan line strength model, the retrieval time of this model is greatly shortened;The object cell discharge model with image similarity information as input can show similar expression of discharge rate as physiological research, which verifies the effectiveness and efficiency of the proposed model. The research results lay a foundation for the research of robot environment cognition method based on brain cognitive mechanism. © 2021 IEEE.

关键词： Physiological models

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Novel activation function with pixelwise modeling capacity for lightweight neural network design

Novel activation function with pixelwise modeling capacity f...

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作者： Liu, Yi Guo, Xiaozhou Tan, Kaijun Gong, Guoliang Lu, Huaxiang Lab of Artificial Networks Institute of Semiconductors Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai China Beijing Key Laboratory of Semiconductor Neural Network Intelligent Sensing and Computing Technology Beijing China

The development of lightweight networks makes neural networks more efficient to be widely applied to various tasks. Considering the deployment of hardware like edge devices and mobile phones, we prioritize lightweight networks. However, their accuracy has always lagged far behind SOTA networks. In this article, we present a simple yet effective activation function, called WReLU, to improve the performance of lightweight networks significantly by adding a residual spatial condition. Moreover, we use a strategy to switch activation functions after determining which convolutional layer to use. We perform experiments on ImageNet 2012 classification dataset in CPU, GPU, and edge devices. Experiments demonstrate that WReLU improves the accuracy of classification significantly. Meanwhile, our strategy balances the effect of additional parameters and multiply accumulate. Our method improves the accuracy of SqueezeNet and SqueezeNext by more than 5% without increasing extensive parameters and computation. For the lightweight network with a large number of parameters, such as MobileNet and ShuffleNet, there is also a significant improvement. Additionally, the inference speed of most lightweight networks using our WReLU strategy is almost the same as the baseline model on different platforms. Our approach not only ensures the practicability of the lightweight network but also improves its performance. © 2021 John Wiley & Sons Ltd.

关键词： Classification (of information)

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Size-Invariance Matters: Rethinking Metrics and Losses for Imbalanced Multi-object Salient Object Detection 41

Size-Invariance Matters: Rethinking Metrics and Losses for I...

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41st International Conference on Machine Learning, ICML 2024

作者： Li, Feiran Xu, Qianqian Bao, Shilong Yang, Zhiyong Cong, Runmin Cao, Xiaochun Huang, Qingming Institute of Information Engineering Chinese Academy of Sciences Beijing China School of Cyber Security University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Institute of Information Science Beijing Jiaotong University Beijing China School of Control Science and Engineering Shandong University Jinan China Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Cyber Science and Tech. Sun Yat-sen University Shenzhen Campus China Key Laboratory of Big Data Mining and Knowledge Management Chinese Academy of Sciences Beijing China

This paper explores the size-invariance of evaluation metrics in Salient Object Detection (SOD), especially when multiple targets of diverse sizes co-exist in the same image. We observe that current metrics are size-sensitive, where larger objects are focused, and smaller ones tend to be ignored. We argue that the evaluation should be size-invariant because bias based on size is unjustified without additional semantic information. In pursuit of this, we propose a generic approach that evaluates each salient object separately and then combines the results, effectively alleviating the imbalance. We further develop an optimization framework tailored to this goal, achieving considerable improvements in detecting objects of different sizes. Theoretically, we provide evidence supporting the validity of our new metrics and present the generalization analysis of SOD. Extensive experiments demonstrate the effectiveness of our method. The code is available at https://***/Ferry-Li/SI-SOD. Copyright 2024 by the author(s)

关键词： Object detection

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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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Continuous-Time Prediction of Industrial Paste Thickener system With Differential ODE-Net

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 686-698页

作者： Zhaolin Yuan Xiaorui Li Di Wu Xiaojuan Ban Nai-Qi Wu Hong-Ning Dai Hao Wang the Beijing Advanced Innovation Center for Materials Genome Engineering Institute of Artificial IntelligenceBeijing Key Laboratory of Knowledge Engineering for Materials ScienceSchool of Computer and Communication EngineeringUniversity of Science and Technology Beijing the Department of ICT and Natural Science Norwegian University of Science and Technology IEEE the Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and SystemsMacao University of Science and Technology the Department of Computing and Decision Sciences Lingnan University the Department of Computer Science Norwegian University of Science and Technology

It is crucial to predict the outputs of a thickening system,including the underflow concentration(UC)and mud pressure,for optimal control of the *** proliferation of industrial sensors and the availability of thickening-system data make this ***,the unique properties of thickening systems,such as the non-linearities,long-time delays,partially observed data,and continuous time evolution pose challenges on building data-driven predictive *** address the above challenges,we establish an integrated,deep-learning,continuous time network structure that consists of a sequential encoder,a state decoder,and a derivative module to learn the deterministic state space model from thickening *** a case study,we examine our methods with a tailing thickener manufactured by the FLSmidth installed with massive sensors and obtain extensive experimental *** results demonstrate that the proposed continuous-time model with the sequential encoder achieves better prediction performances than the existing discrete-time models and reduces the negative effects from long time delays by extracting features from historical system *** proposed method also demonstrates outstanding performances for both short and long term prediction tasks with the two proposed derivative types.

关键词： Industrial 24 paste thickener ordinary differential equation(ODE)-net recurrent neural network time series prediction

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Design and Implementation of a Web-based Collaborative Manufacturing system Based on Knowledge Graph 4

Design and Implementation of a Web-based Collaborative Manuf...

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4th IEEE International Conference on Digital Twins and Parallel intelligence, DTPI 2024

作者： Yuan, Meng Wu, Huaiyu Shen, Zhen Han, Yunjun Zhou, Jiehan Yue, Zhijian Xiong, Gang Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Chinese Academy of Sciences Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Dongguan523808 China Qingdao Academy of Intelligent Industries Intelligent Manufacturing Center Qingdao266109 China University of Oulu Faculty of Information Technology and Electrical Engineering OuluTS352 Finland

ISBN: (纸本)9798350349252

Collaborative manufacturing is central to agile, intelligent, and cloud-based manufacturing paradigms. This paper presents the design and implementation of a web-based collaborative manufacturing system based on a knowledge graph (KG). The system achieves the full spectrum of knowledge extraction, fusion, and reasoning across the industrial chain, thereby enhancing efficiency and reducing operational costs. The proposed system constructs an industrial chain KG and multi-agent systems, offering comprehensive digital services across the manufacturing value chain. It supports the integration of business processes, data, and standard information for enterprise groups, presenting collaborative manufacturing data of the industrial chain in real-time visualization. The paper further discusses a method for real-time perception of anomalies in the collaborative manufacturing process, utilizing expert knowledge and data-driven insights to construct an operational risk KG. The system's architecture, workflow, and functional design are detailed, along with application cases in visual dynamic management. The conclusion underscores the system's potential to improve supply-demand chain management and operational efficiency in collaborative manufacturing. © 2024 IEEE.

关键词： Smart manufacturing

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Automatic skin lesion classification using a novel densely connected convolutional network integrated with an attention module

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Journal of Ambient intelligence and Humanized computing 2023年第7期14卷 8943-8956页

作者： Shan, Pufang Chen, Jialei Fu, Chong Cao, Lin Tie, Ming Sham, Chiu-Wing School of Computer Science and Engineering Northeastern University Shenyang110819 China Engineering Research Center of Security Technology of Complex Network System Ministry of Education Shenyang China Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Northeastern University Shenyang110819 China School of Information and Communication Engineering Beijing Information Science and Technology University Beijing100101 China Science and Technology on Space Physics Laboratory Beijing100076 China School of Computer Science The University of Auckland Auckland New Zealand

Automated skin lesion classification in dermoscopy images remains challenging due to the existence of artefacts and intrinsic cutaneous features, diversity of lesion morphology, insufficiency of training data, and class imbalance problem. To address these challenges, we propose a new densely connected convolutional network termed AttDenseNet-121, which is obtained by integrating the convolutional block attention module (CBAM) into DenseNet-121. CBAM is a simple yet efficient attention module, which is further improved by adding a novel pooling layer (multiscale-pooling) to effectively enhance its attention capability. The optimized CBAM strengthens the representation power of DenseNet-121 by emphasizing meaningful features and suppressing unnecessary ones, thus significantly enhancing the classification performance. Besides, to handle the imbalanced dataset, we employ an improved focal loss function rather than the traditional cross-entropy loss function to train AttDenseNet-121. The improved focal loss is calculated from a different perspective compared with the original focal loss. It makes the distribution of positive samples and negative samples in each batch the same as that in the original data, successfully mitigating the negative influence of class imbalance on this multi-class classification task. We conduct extensive experiments on the public benchmark dataset (HAM10000) and the results indicate that our proposed method achieves superior performance compared with that of the baselines and state-of-the-art algorithms. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Convolution

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Defect Detection of Rubber Gloves Based on Normal Samples 6

Defect Detection of Rubber Gloves Based on Normal Samples

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6th IEEE International Conference on Cloud computing and Big Data Analytics, ICCCBDA 2021

作者： Yu, Naigong Wang, Honglu Xu, Qiao Lin, Jia Faculty of Information Technology Ministry of Education Beijing University of Technology Beijing Key Laboratory of Computing Intelligence and Intelligent System Engineering Research Center of Digital Community Beijing100124 China

ISBN: (纸本)9780738105338

Rubber gloves are widely favored in various industries, and the defect detection link in production is very important. This paper proposes a method for detecting defects in rubber gloves based on normal samples (no defects). First, random noise is added to the collected rubber glove images, and the size is standardized and unified. Secondly, establish an improved GANomaly network model. According to the small and difficult defect to distinguish characteristics of black spots and oil defects of rubber gloves, a noise-reducing convolutional autoencoder is built in the network model as a generation network, and the least square loss is introduced for the model of confrontation training. The model only uses normal sample input for training, learning the characteristic distribution of the normal sample and performs image reconstruction, and judges whether it has defects according to the reconstruction effect score of the input sample during testing. The experiment is based on the rubber glove image data set, and the results show that the method can accurately identify whether there are defects on the rubber glove. © 2021 IEEE.

关键词： Defects

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