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Adaptive ELM-Based Time-Constrained Control of Uncertain Robotic Manipulators With Minimum Learning Computation

IEEE Transactions on Emerging Topics in computing 2025年

作者： Jin, Xiaozheng Hou, Yuhan Wu, Xiaoming Chi, Jing Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center National Supercomputer Center in Jinan Shandong Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Jinan250013 China Qilu Institute of Technology School of Intelligent Manufacturing and Control Engineering Shandong Jinan250200 China Shandong University of Finance and Economics School of Computing and Artificial Intelligence Shandong Jinan250014 China

This paper studies the extreme learning machine (ELM)-based time-constrained trajectory tracking control of a class of robotic manipulator systems with model/input uncertainties, matched and mismatched disturbances. A uniform robust exact differentiator (URED) is developed to construct a multi-layer virtual control framework of the robotic manipulator system. Under the control framework, adaptive ELM-based control strategies are proposed to suppress the influence of the uncertainties and disturbances layer-by-layer, combining with the minimum learning parameter (MLP) technique which is employed to reduce the calculation complexity of ELM parameters. The significance of this study is that general model/input uncertainties, matched and mismatched disturbances can be effectively compensated within a limited time, so that bounded trajectory tracking of the robotic manipulator can be achieved avoiding the complexity explosion issue. The time-constrained stability of the closed-loop robotic error systems is proved through Lyapunov stability theory. Finally, comparative simulations are employed to display the feasibility and superiority of the designed robust adaptive ELM-based control schemes of a robotic manipulator system. © 2013 IEEE.

关键词： Robust control

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Digital Human Techniques for Education Reform 24

Digital Human Techniques for Education Reform

引用

7th International Conference on Educational Technology Management, ICETM 2024

作者： Guo, Peirong Zhang, Qi Tian, Chunwei Xue, Wanli Feng, Xiaocheng School of Software Northwestern Polytechnical University Shaanxi Xi’an China School of Economics and Management Harbin Institute of Technology at Weihai Shandong Weihai China Shenzhen Research Institute of Northwestern Polytechnical University Northwestern Polytechnical University Guangdong Shenzhen China School of Computer Science and Engineering Tianjin University of Technology Tianjin China Research Center for Social Computing and Information Retrieval Harbin Institute of Technology Heilongjiang Harbin China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Key Laboratory of Media Security Shenzhen University Guangdong Shenzhen China

ISBN: (纸本)9798400717468

The rapid evolution of artificial intelligence, big data, and generative AI models has ushered in significant transformations across various sectors, including education. Digital Human Technique, an innovative technology grounded in advanced computer science and artificial intelligence, is reshaping educational paradigms by enabling virtual humans to simulate human behavior, express emotions, and interact with users. This paper explores the application of Digital Human Technique in education reform, focusing on creating immersive, intelligent classroom experiences that foster meaningful interactions between teachers and students. We define Digital Human Technique and delve into its key technical components such as character modeling and rendering, natural language processing, computer vision, and augmented reality technologies. Our methodology involves analyzing the role of educational digital humans created through these technologies, assessing their impact on educational processes, and examining various application scenarios in educational reform. Results indicate that Digital Human Technique significantly enhances the learning experience by enabling personalized teaching, increasing engagement, and fostering emotional connections. Educational digital humans serve as virtual teachers, interactive learning aids, and facilitators of emotional interaction, effectively addressing the challenges of traditional educational methods. They also promote a deeper understanding of complex concepts through simulated environments and interactive digital content. © 2024 Copyright held by the owner/author(s).

关键词： Digital elevation model

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RKSeg+: make full use of Runge–Kutta methods in medical image segmentation

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Multimedia Systems 2024年第2期30卷 65-65页

作者： Zhu, Mai Fu, Chong Wang, Xingwei School of Computer Science and Engineering Northeastern University Shenyang110819 China Engineering Research Center of Security Technology of Complex Network System Ministry of Education Shenyang110819 China Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Northeastern University Shenyang110819 China

The dynamical system perspective has been used to build efficient image classification networks and semantic segmentation networks. Furthermore, the Runge–Kutta (RK) methods are powerful tools for building networks from the dynamical systems perspective. Hence, the Runge–Kutta segmentation network (RKSeg) for medical image segmentation was born. Skip connections and multiple scaling are often used in common models but lack mathematical explanations. RKSeg interprets and uses skip connections based on the RK methods. Therefore, RKSeg greatly improves segmentation efficiency. However, it does not explain and use multiple scales from a dynamical system perspective but only inherits the multi-scale scheme of existing models. We compensate for this shortcoming by interpreting and using multiple scales based on the RK methods. In addition, the network structure also limits the excellent image classification networks as the backbones of RKSegs. Therefore, we modify the network structure to support more image classification networks as backbones. As a result, we propose a novel network structure RKSeg+. Our proposed RKSeg+ achieves better segmentation results with fewer parameters than RKSeg. Furthermore, RKSeg+, well configured with few parameters, outperforms state-of-the-art models on six of the ten organ datasets in the Medical Segmentation Decathlon. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Semantic Segmentation

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Comprehensive Feature Processing Based on Attention Mechanism for Co-Salient Object Detection

Comprehensive Feature Processing Based on Attention Mechanis...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Guohua Lv Mao Yuan Zengbin Zhang Zhengyang Zhang Zhenhui Ding Guangxiao Ma Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Fundamental Research Center for Computer Science Jinan China Shandong Key Laboratory of Ubiquitous Intelligent Computing Jinan China College of Computer Science and Engineering Shandong University of Science and Technology Qingdao China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Co-salient object detection (CoSOD) aims to detect common salient objects across multiple related images. However, existing methods often struggle with limited attention coverage, missing some co-salient objects. To address this, we propose a two-stage feature processing module (FPM) comprising comprehensive feature extraction module (CFE) and feature enhancement module (FEM). CFE extracts comprehensive cosalient features while reducing background noise, and FEM enhances feature representation and adjusts attention weights for full object coverage. Additionally, we introduce an adversarial learning module (ALM) to improve prediction quality by reducing noise in the co-salient regions. Extensive experiments on three benchmark datasets—CoCA, CoSOD3k, and CoSal2015—demonstrate that our model significantly outperforms state-of-the-art methods. The source code is available at https://***/yaobaimiao/CFPAM.

关键词： Attention mechanisms Source coding Noise Object detection Benchmark testing Feature extraction Adversarial machine learning Finite element analysis Background noise Speech processing

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Exploring Straighter Trajectories of Flow Matching with Diffusion Guidance

arXiv

引用

arXiv 2023年

作者： Xing, Siyu Cao, Jie Huang, Huaibo Zhang, Xiao-Yu He, Ran Institute of Information Engineering Chinese Academy of Sciences China Center for Research on Intelligent Perception and Computing CASIA National Laboratory of Pattern Recognition CASIA School of Cyber Security University of Chinese Academy of Sciences China

Flow matching as a paradigm of generative model achieves notable success across various domains. However, existing methods use either multi-round training or knowledge within minibatches, posing challenges in finding a favorable coupling strategy for straight trajectories. To address this issue, we propose a novel approach, Straighter trajectories of Flow Matching (StraightFM). It straightens trajectories with the coupling strategy guided by diffusion model from entire distribution level. First, we propose a coupling strategy to straighten trajectories, creating couplings between image and noise samples under diffusion model guidance. Second, StraightFM also integrates real data to enhance training, employing a neural network to parameterize another coupling process from images to noise samples. StraightFM is jointly optimized with couplings from above two mutually complementary directions, resulting in straighter trajectories and enabling both one-step and few-step generation. Extensive experiments demonstrate that StraightFM yields high quality samples with fewer step. StraightFM generates visually appealing images with a lower FID among diffusion and traditional flow matching methods within 5 sampling steps when trained on pixel space. In the latent space (i.e., Latent Diffusion), StraightFM achieves a lower KID value compared to existing methods on the CelebA-HQ 256 dataset in fewer than 10 sampling steps. Copyright © 2023, The Authors. All rights reserved.

关键词： Trajectories

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Brain-inspired artificial intelligence research: A review

引用

Science China(Technological Sciences) 2024年第8期67卷 2282-2296页

作者： WANG GuoYin BAO HuaNan LIU Qun ZHOU TianGang WU Si HUANG TieJun YU ZhaoFei LU CeWu GONG YiHong ZHANG ZhaoXiang HE Sheng Chongqing Key Laboratory of Computational Intelligence Chongqing University of Posts and TelecommunicationsChongqing 400065China Key Laboratory of Cyberspace Big Data Intelligent Security Chongqing University of Posts and TelecommunicationsChongqing 400065China College of Computer and Information Science Chongqing Normal UniversityChongqing 401331China State Key Laboratory of Brain and Cognitive Science Institute of BiophysicsChinese Academy of SciencesBeijing 100101China School of Psychological and Cognitive Sciences Peking UniversityBeijing 100871China State Key Laboratory of Multimedia Information Processing School of Computer SciencePeking UniversityBeijing 100871China Department of Computer Science School of ElectronicsInformation and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Faculty of Electronic and Information Engineering Xi’an Jiaotong UniversityXi’an 710049China The Center for Research on Intelligent Perception and Computing Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Biophysics Chinese Academy of SciencesBeijing 100101China

Artificial intelligence(AI) systems surpass certain human intelligence abilities in a statistical sense as a whole, but are not yet the true realization of these human intelligence abilities and behaviors. There are differences, and even contradictions, between the cognition and behavior of AI systems and humans. With the goal of achieving general AI, this study contains a review of the role of cognitive science in inspiring the development of the three mainstream academic branches of AI based on the three-layer framework proposed by David Marr, and the limitations of the current development of AI are explored and analyzed. The differences and inconsistencies between the cognition mechanisms of the human brain and the computation mechanisms of AI systems are analyzed. They are found to be the cause of the differences and contradictions between the cognition and behavior of AI systems and humans. Additionally, eight important research directions and their scientific issues that need to focus on braininspired AI research are proposed: highly imitated bionic information processing, a large-scale deep learning model that balances structure and function, multi-granularity joint problem solving bidirectionally driven by data and knowledge, AI models that simulate specific brain structures, a collaborative processing mechanism with the physical separation of perceptual processing and interpretive analysis, embodied intelligence that integrates the brain cognitive mechanism and AI computation mechanisms,intelligence simulation from individual intelligence to group intelligence(social intelligence), and AI-assisted brain cognitive intelligence.

关键词： artificial intelligence cognitive science brain science intelligence science large language model

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CGNet: Classification-Guided Multi-Task Interactive Network for Hyperspectral and Multispectral Image Fusion

CGNet: Classification-Guided Multi-Task Interactive Network ...

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Guohua Lv Yanlong Xu Yongbiao Gao Guixin Zhao Guotao Wang Xiangcheng Sun Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) China Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Fundamental Research Center for Computer Science China Shandong Key Laboratory of Ubiquitous Intelligent Computing China Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Application (Southeast University) Ministry of Education China Beihang University Beijing China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

The goal of fusing hyperspectral images (HSI) and multispectral images (MSI) is to generate high-resolution hyperspectral images for downstream tasks. However, most existing methods overlook the specific requirements of these tasks, leading to a gap between the fusion process and its subsequent applications due to insufficient guidance from downstream tasks. To address this issue, we propose a classification-guided multitask interactive network (CGNet) that integrates both fusion and classification tasks into a unified framework, with two branches producing the fused image and classification results, respectively. In the fusion branch, we design a multi-level residual refinement module to efficiently integrate spatial and spectral information. Additionally, an attention-based multi-scale fusion module, incorporating both spatial and channel attention, is carefully crafted to enhance representation learning. In the classification branch, both 2-D and 3-D convolutions are employed to improve classification performance. Moreover, an information interaction module is proposed to guide the fusion task based on classification outcomes. Extensive experiments demonstrate that our method outperforms state-of-the-art approaches on the Pavia Centre and Pavia University datasets.

关键词： Representation learning Three-dimensional displays Attention mechanisms Convolution Streaming media Multitasking Speech processing Image fusion Information exchange Hyperspectral imaging

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Dfier: A Directed Vulnerability Verifier for Ethereum Smart Contracts

SSRN

引用

SSRN 2023年

作者： Wang, Zeli Dai, Weiqi Li, Ming Choo, Kim-Kwang Raymond Zou, Deqing Chongqing Key Laboratory of Computational Intelligence Key Laboratory of Big Data Intelligent Computing Key Laboratory of Cyberspace Big Data Intelligent Security Ministry of Education College of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing40065 China National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Engineering Research Center on Big Data Security Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security School of Cyber Science and Engineering Huazhong University of Science and Technology Wuhan430074 China Department of Information Systems and Cyber Security University of Texas at San Antonio San Antonio United States

Existing smart contract vulnerability identification approaches mainly focus on complete program detection. Consequently, lots of known potentially vulnerable locations need manual verification, which is energy-exhaustive and error-prone. Fuzzing is an effective way to detect vulnerabilities. However, current fuzzers cannot effectively probe these suspicious targets because they overlook two key factors: exploring all paths toward the targets and providing high-quality directed seed inputs. This paper presents a Directed vulnerability veriFier (DFier), elaborating effective transaction sequences with directed inputs for the fuzzer, to focus on analyzing target paths and automatically detect whether the given locations are vulnerable. Specifically, DFier fuses the effectiveness of static analysis and the efficiency of fuzzing. The static analysis helps locate target paths and generate directed inputs for the fuzzer under three heuristic strategies. The first prefers inputs with the larger possibility of triggering potential vulnerabilities based on target features. The second guides the value mutation to satisfy the path constraints. The third adequately leverages execution information to help find exploits faster. Extensive experiments demonstrate that DFier is effective in verifying contract security, compared with three existing contract fuzzers (i.e., contractFuzzer, sFuzz, and conFuzzius). And the performance losses are in an acceptable range. © 2023, The Authors. All rights reserved.

关键词： Smart contract

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An Evolutionary Network Architecture Search Framework with Adaptive Multimodal Fusion for Hand Gesture Recognition

arXiv

引用

arXiv 2024年

作者： Xia, Yizhang Song, Shihao Hou, Zhanglu Xu, Junwen Zou, Juan Liu, Yuan Yang, Shengxiang Hunan Engineering Research Center of Intelligent System Optimization and Security Key Laboratory of Intelligent Computing and Information Processing Ministry of Education of China Key Laboratory of Hunan Province for Internet of Things and Information Security Xiangtan University Hunan Province Xiangtan411105 China The Centre for Computational Intelligence School of Computer Science and Informatics De Montfort University LeicesterLE1 9BH United Kingdom

Hand gesture recognition (HGR) based on multimodal data has attracted considerable attention owing to its great potential in applications. Various manually designed multimodal deep networks have performed well in multimodal HGR (MHGR), but most of existing algorithms require a lot of expert experience and time-consuming manual trials. To address these issues, we propose an evolutionary network architecture search framework with the adaptive multimodel fusion (AMF-ENAS). Specifically, we design an encoding space that simultaneously considers fusion positions and ratios of the multimodal data, allowing for the automatic construction of multimodal networks with different architectures through decoding. Additionally, we consider three input streams corresponding to intra-modal surface electromyography (sEMG), intra-modal accelerometer (ACC), and inter-modal sEMG-ACC. To automatically adapt to various datasets, the ENAS framework is designed to automatically search a MHGR network with appropriate fusion positions and ratios. To the best of our knowledge, this is the first time that ENAS has been utilized in MHGR to tackle issues related to the fusion position and ratio of multimodal data. Experimental results demonstrate that AMF-ENAS achieves state-of-the-art performance on the Ninapro DB2, DB3, and DB7 datasets. Copyright © 2024, The Authors. All rights reserved.

关键词： Evolutionary algorithms

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Enhanced Practical Byzantine Fault Tolerance for Service Function Chain Deployment:Advancing Big Data Intelligence in Control Systems

引用

Computers, Materials & Continua 2025年第6期83卷 4393-4409页

作者： Peiying Zhang Yihong Yu Jing Liu ChongLv Lizhuang Tan Yulin Zhang Qingdao Institute of Software College of Computer Science and TechnologyChina University of Petroleum(East China)Qingdao266580China Shandong Key Laboratory of Intelligent Oil&Gas Industrial Software Qingdao266580China Library of Shanghai Lixin University of Accounting and Finance Shanghai201209China Key Laboratory of Computing Power Network and Information Security Ministry of EducationShandong Computer Science Center(National Supercomputer Center in Jinan)Qilu University of Technology(Shandong Academy of Sciences)Jinan250014China Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Fundamental Research Center for Computer ScienceJinan250014China Key Laboratory of Ethnic Language Intelligent Analysis and Security Governance of MOE Minzu University of ChinaBeijing100081China Key Laboratory of Intelligent Game Yangtze River Delta Research Institute of NPUTaicang215400China Key Laboratory of Education Informatization for Nationalities(Yunnan Normal University) Ministry of EducationKunming650092China

As Internet ofThings(IoT)technologies continue to evolve at an unprecedented pace,intelligent big data control and information systems have become critical enablers for organizational digital transformation,facilitating data-driven decision making,fostering innovation ecosystems,and maintaining operational *** this study,we propose an advanced deployment algorithm for Service Function Chaining(SFC)that leverages an enhanced Practical Byzantine Fault Tolerance(PBFT)*** main goal is to tackle the issues of security and resource efficiency in SFC implementation across diverse network *** integrating blockchain technology and Deep Reinforcement Learning(DRL),our algorithm not only optimizes resource utilization and quality of service but also ensures robust security during SFC ***,the enhanced PBFT consensus mechanism(VRPBFT)significantly reduces consensus latency and improves Byzantine node detection through the introduction of a Verifiable Random Function(VRF)and a node reputation grading *** results demonstrate that compared to traditional PBFT,the proposed VRPBFT algorithm reduces consensus latency by approximately 30%and decreases the proportion of Byzantine nodes by 40%after 100 rounds of ***,the DRL-based SFC deployment algorithm(SDRL)exhibits rapid convergence during training,with improvements in long-term average revenue,request acceptance rate,and revenue/cost ratio of 17%,14.49%,and 20.35%,respectively,over existing ***,the CPU resource utilization of the SDRL algorithmreaches up to 42%,which is 27.96%higher than other *** findings indicate that the proposed algorithm substantially enhances resource utilization efficiency,service quality,and security in SFC deployment.

关键词： Big data intelligent transformation heterogeneous networks service function chain blockchain deep reinforcement learning trusted deployment

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