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arXiv 2024年

作者： Zeng, Guangyang Zeng, Qingcheng Li, Xinghan Mu, Biqiang Chen, Jiming Shi, Ling Wu, Junfeng The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen518172 China The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix, which is not optimal in the maximum likelihood (ML) sense. In this paper, we dive into the original measurement model with respect to the rotation matrix and normalized translation vector and formulate the ML problem. We then propose a two-step algorithm to solve it: In the first step, we estimate the variance of measurement noises and devise a consistent estimator based on bias elimination;In the second step, we execute a one-step Gauss-Newton iteration on manifold to refine the consistent estimate. We prove that the proposed estimate owns the same asymptotic statistical properties as the ML estimate: The first is consistency, i.e., the estimate converges to the ground truth as the point number increases;The second is asymptotic efficiency, i.e., the mean squared error of the estimate converges to the theoretical lower bound - Cramer-Rao bound. In addition, we show that our algorithm has linear time complexity. These appealing characteristics endow our estimator with a great advantage in the case of dense point correspondences. Experiments on both synthetic data and real images demonstrate that when the point number reaches the order of hundreds, our estimator outperforms the state-of-the-art ones in terms of estimation accuracy and CPU time. Copyright © 2024, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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MedFILIP: Medical Fine-grained Language-Image Pre-training

arXiv

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arXiv 2025年

作者： Liang, Xinjie Li, Xiangyu Li, Fanding Jiang, Jie Dong, Qing Wang, Wei Wang, Kuanquan Dong, Suyu Luo, Gongning Li, Shuo School of Computer Science and Technology Harbin Institute of Technology Harbin China Department of Thoracic Surgery at No. 4 Affiliated Hospital Harbin Medical University Harbin China School of Computer Science and Technology Harbin Institute of Technology Shenzhen China College of computer and control engineering Northeast Forestry University Harbin China Computer Electrical and Mathematical Sciences & Engineering Division King Abdullah University of Science and Technology Thuwal Saudi Arabia Department of Biomedical Engineering Department of Computer and Data Science Case Western Reserve University ClevelandOH United States

Medical vision-language pretraining (VLP) that leverages naturally-paired medical image-report data is crucial for medical image analysis. However, existing methods struggle to accurately characterize associations between images and diseases, leading to inaccurate or incomplete diagnostic results. In this work, we propose MedFILIP, a fine-grained VLP model, introduces medical image-specific knowledge through contrastive learning, specifically: 1) An information extractor based on a large language model is proposed to decouple comprehensive disease details from reports, which excels in extracting disease deals through flexible prompt engineering, thereby effectively reducing text complexity while retaining rich information at a tiny cost. 2) A knowledge injector is proposed to construct relationships between categories and visual attributes, which help the model to make judgments based on image features, and fosters knowledge extrapolation to unfamiliar disease categories. 3) A semantic similarity matrix based on fine-grained annotations is proposed, providing smoother, information-richer labels, thus allowing fine-grained image-text alignment. 4) We validate MedFILIP on numerous datasets, e.g., RSNA-Pneumonia, NIH ChestX-ray14, VinBigData, and COVID-19. For single-label, multi-label, and fine-grained classification, our model achieves state-of-the-art performance, the classification accuracy has increased by a maximum of 6.69%. The code is available in https://***/ PerceptionComputingLab/MedFILIP. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantics

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Finite Sample Analysis for a Class of Subspace Identification Methods

Finite Sample Analysis for a Class of Subspace Identificatio...

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IEEE Conference on Decision and control

作者： Jiabao He Ingvar Ziemann Cristian R. Rojas Håkan Hjalmarsson Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden University of Pennsylvania Philadelphia PA USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

While subspace identification methods (SIMs) are appealing due to their simple parameterization for MIMO systems and robust numerical realizations, a comprehensive statistical analysis of SIMs remains an open problem, especially in the non-asymptotic regime. In this work, we provide a finite sample analysis for a class of SIMs, which reveals that the convergence rates for estimating Markov parameters and system matrices are $\mathcal{O}(1 / \sqrt{N})$, in line with classical asymptotic results. Based on the observation that the model format in classical SIMs is non-causal because of a projection step, we choose a parsimonious SIM that bypasses the projection step and strictly enforces a causal model to facilitate the analysis, where a bank of ARX models are estimated in parallel. Leveraging recent results from a finite sample analysis of an individual ARX model, we obtain a union error bound for an array of ARX models and proceed to derive error bounds for system matrices using robustness results for the singular value decomposition.

关键词： Analytical models Statistical analysis Robustness MIMO Matrix decomposition Singular value decomposition Convergence

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Masquerading Email Detection 8

Masquerading Email Detection

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8th International Conference on Information Technology and Nanotechnology, ITNT 2022

作者： Saurabh, Raman Bhasme, Sarang Balasaheb Saeed, Muhammad Salman Kumar, Chanchal Nazarov, Alexey Moscow Institute of Physics and Technology Department of Radio Engineering and Cybernetics Moscow Russia Jamia Millia Islamia Department of Computer Science New Delhi India Ciena India Pvt. Ltd Haryana India Federal Research Centre Computer Science and Control of Russian Academy of Sciences Moscow Russia

ISBN: (数字)9781665485715

ISBN: (纸本)9781665485715

The email which contains suspicious links or malicious files is one of the considerable threats in the digital world nowadays and because of these types of emails, enormous social and financial losses occur. The different approaches of detection of masquerading emails, which are already proposed, are unceasingly being renovated, the outcomes of that are not more impressive. Moreover, the masquerading email crisis is intensifying at a higher rate in the past few years. Because of the rapid increase in masquerading email threats, there is a need to develop new techniques to eliminate these types of masquerading email which is the present need of the hour. In our proposed work, the structure of the email was thoroughly analysed and then fed on recurrent convolutional neural networks. After that the Recurrent convolutional neural network model processes the email header and body of the email for detecting the suspicious or malicious files, elements and codes at character and word level of particular email;if the suspicious elements, file extension is detected then it will automatically transfer to the spam folder. For increasing the veracity of the design, the training of the model is performed with a balanced and unbalanced data set due to which improves the efficiency to distinguish between the legitimate and non-legitimate emails. Thus, the result of the experiment implies that the filtering or recognition probability of non-legitimate email is much closer to the value one, which also symbolizes that certainty of the proposed model enhances. As a result, classification of the spam and non-spam email is done by using the neural network classifier. The masquerading emails contain the suspicious links when the user clicks on the link the redirection takes place and the user reaches the suspicious website where the confidential information is asked from the user. The details shared by users results in financial and social losses. © 2022 IEEE.

关键词： Support vector machines

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Autonomous Surveillance Breakthrough by Implementing Facial Recognition in Dog Robots

Autonomous Surveillance Breakthrough by Implementing Facial ...

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Intermountain engineering, Technology and Computing (IETC)

作者： Amir Hafezi Minhaz Zibran Taher Deemyad Department of Mechanical and Measurement & Control Engineering Idaho State University Pocatello ID USA Department of Computer Science Idaho State University Pocatello ID USA

ISBN: (数字)9798350373073

ISBN: (纸本)9798350373080

As the importance of security in today's world continues to escalate, technology's role in its enhancement has evolved significantly. From the inception of fixed security cameras monitored by individuals, advancements have steered towards autonomous threat recognition systems and the deployment of mobile robots for proactive security measures. Despite these technological strides, the exploration of autonomous robots in security has been relatively scant. This study takes a novel approach by repurposing the commercial GO2 Edu dog robot for security purposes, equipping it with a thermal camera and custom software for robust face detection in varying lighting conditions, aimed at achieving safer and more reliable face recognition. Furthermore, the mapping and navigational capabilities are studied by conducting experiments with a Turtlebot outfitted with a 2D RPLIDAR and depth camera using SLAM, laying the groundwork for the GO2 robot's autonomous operations. The results of these enhancements have shown to be promising in the context of bolstering security measures. The paper concludes with a discussion on potential future enhancements, paving the way for more sophisticated and autonomous security robots.

关键词： Simultaneous localization and mapping Navigation Face recognition Robot vision systems Lighting Dogs Cameras

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Tuning the feedback controller gains is a simple way to improve autonomous driving performance

arXiv

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arXiv 2024年

作者： Liang, Wenyu Baldivieso, Pablo R. Drummond, Ross Shin, Donghwan Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom Dept. of Computer Science University of Sheffield Sheffield United Kingdom

Typical autonomous driving systems are a combination of machine learning algorithms (often involving neural networks) and classical feedback controllers. Whilst significant progress has been made in recent years on the neural network side of these systems, only limited progress has been made on the feedback controller side. Often, the feedback control gains are simply passed from paper to paper with little re-tuning taking place, even though the changes to the neural networks can alter the vehicle’s closed loop dynamics. The aim of this paper is to highlight the limitations of this approach;it is shown that retuning the feedback controller can be a simple way to improve autonomous driving performance. To demonstrate this, the PID gains of the longitudinal controller in the TCP autonomous vehicle algorithm are tuned. This causes the driving score in CARLA to increase from 73.21 to 77.38, with the results averaged over 16 driving scenarios. Moreover, it was observed that the performance benefits were most apparent during challenging driving scenarios, such as during rain or night time, as the tuned controller led to a more assertive driving style. These results demonstrate the value of developing both the neural network and feedback control policies of autonomous driving systems simultaneously, as this can be a simple and methodical way to improve autonomous driving system performance and robustness. © 2024, CC BY.

关键词： Feedback control

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Absolute longitudinal distance measurement verification of a standard polystyrene nanoparticle near a surface in water by means of multi-wavelength evanescent field 22

Absolute longitudinal distance measurement verification of a...

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22nd International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2022

作者： Blattler, Aran Khajornrungruang, Panart Suzuki, Keisuke Baba, Akiyoshi Goto, Daiki Graduate School of Computer Science and System Engineering Mechanical Information Science and Technology Course Kyushu Institute of Technology Fukuoka Japan Department of Intelligent and Control Systems Advanced Mechanical Division Kyushu Institute of Technology Fukuoka Japan Center of Microelectronic System Kyushu Institute of Technology Fukuoka Japan School of Computer Science and System Engineering Advanced Mechanical Course Kyushu Institute of Technology Fukuoka Japan

ISBN: (纸本)9781998999118

In the wet semiconductor process, abrasive nanoparticles are widely used in the chemical mechanical polishing (CMP) process to polish wafer surfaces for high planarization. During polishing, nanoparticles move with a high-speed three-dimensional (3D) position in the solution. In the 3D particles's moving positions, Z is a perpendicular longitudinal distance between the surface to the nanoparticle that plays a significant role in polishing, which could not be measured by general microscopy without longitudinal scanning. To understand nanoparticle phenomena near-surface, we have proposed and developed the apparatus with real-time fastmotion tracking on optical multi-wavelength evanescent fields microscopy to measure the 3D motion of the nanoparticle in water without scanning. In euspen's 2020, we could verify the relative distance ?Z of nanoparticles in water, but the absolute distance Z is unknown yet. In this manuscript, we have therefore developed an invisible nano-step height in water to verify the absolute height Z of an individual nanoparticle. The invisible nano-step height in water is made from an optical resin with a refractive index of 1.35 that is close to a refractive index of water to avoid unnecessary light during experimental verification. The nano-step height was less than 100 nm on a glass surface, fabricated using nanoimprint lithography. Polystyrene f100 nm standard particles in water were used to verify the height Z. The results of height Z of nanoparticles could be measured less than 100 nm with the measurement uncertainty ±10 nm (2s), which is related to the interferometer result of the nano-step height. © European Society for Precision engineering and Nanotechnology, Conference Proceedings - 22nd International Conference and Exhibition, EUSPEN 2022. All rights reserved.

关键词： Nanoparticles

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Thermal Digital Twin of a Multi-Domain System for Discovering Mechanical Faulty Behaviors

Thermal Digital Twin of a Multi-Domain System for Discoverin...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Francesco Tosoni Nicola Dall’Ora Enrico Fraccaroli Sara Vinco Franco Fummi Department of Engineering for Innovation Medicine University of Verona Italy Department of Computer Science University of North Carolina at Chapel Hill USA Department of Control and Computer Engineering Politecnico di Torino Italy

Constructing a holistic digital twin of a system composed of multiple physical domains is crucial for various tasks. In particular, when the simulation is extended with faults, it becomes a very important resource to achieve robust functional safety analysis. This article proposes a new methodology to build non-electrical fault models for the thermal domain. Such thermal faults are defined through an electrical circuit representing the thermal behavior of the system, known as the Cauer network, based on the physical analogies between the two domains. Including this thermal representation in a multi-domain system allows to simulate the interconnections between different physical domains, thus achieving a more realistic system behavior and evaluating the mutual impact of different domains (e.g., mechanical, electrical and thermal). The entire methodology is applied to a complex case of study implemented by using Verilog-AMS as a proof of concept.

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Multi-Agent Coordination for a Partially Observable and Dynamic Robot Soccer Environment with Limited Communication

arXiv

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arXiv 2024年

作者： Affinita, Daniele Volpi, Flavio Spagnoli, Valerio Suriani, Vincenzo Nardi, Daniele Bloisi, Domenico D. Department of Computer Control and Management Engineering Antonio Ruberti Sapienza University of Rome Italy Faculty of Political Science and Sociopsychological Dynamics UNINT University Rome Italy

RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal, autonomous humanoid robots’ coordination is crucial. This paper explores novel solutions within the RoboCup Standard Platform League (SPL), where a reduction in WiFi communication is imperative, leading to the development of new coordination paradigms. The SPL has experienced a substantial decrease in network packet rate, compelling the need for advanced coordination architectures to maintain optimal team functionality in dynamic environments. Inspired by market-based task assignment, we introduce a novel distributed coordination system to orchestrate autonomous robots’ actions efficiently in low communication scenarios. This approach has been tested with NAO robots during official RoboCup competitions and in the SimRobot simulator, demonstrating a notable reduction in task overlaps in limited communication settings. © 2024, CC BY.

关键词： Human resource management

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Data-Driven Active Power Dispatch for Wind Farms

Data-Driven Active Power Dispatch for Wind Farms

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Data Driven control and Learning Systems (DDCLS)

作者： Xuguo Jiao Daoyuan Zhang Xin Wang Zhaoxing Ma Zhenyong Zhang Wenfeng Liu School of Information and Control Engineering Qingdao University of Technology Qingdao China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Qilu University of Technology Shandong Academy of Sciences Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China State Key Laboratory of Public Big Data College of Computer Science and Technology Guizhou University Guiyang China School of Civil Engineering Qingdao University of Technology Qingdao China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

Active power dispatch of wind farms plays an important role in power grid scheduling. In this paper, a data-driven active power dispatch strategy for wind farms is proposed, which uses the key point of minimizing the standard deviation of wind turbines' output power series to reduce their fluctuations. First, to build the optimization problem, the historical active power output data of each wind turbine is collected from the Supervisory control And Data Acquisition (SCADA) system. Then, the objective function is developed based on the idea of minimizing the standard deviation of the output power time series. Meanwhile, considering the constraints of wind turbines' output power and active power balance of the grid, the feasible domain of the cost function is constructed. Further, to solve the proposed nonlinear optimization problem with equality and inequality constraints, the trust region interior point method (TRIPM) is employed to explore optimal solution within the feasible domain. Finally, actual data collected from wind farms is used to test effectiveness of the designed approach and experimental results show that our method can achieve better output power smoothing performance than conventional Proportional Dispatch (PD) method.

关键词： Fluctuations Time series analysis SCADA systems Power smoothing Wind farms Linear programming Power grids

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