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2023 China Automation Congress, CAC 2023

作者： Li, Xin Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Computer and Data Science Fuzhou University Fuzhou China

ISBN: (纸本)9798350303759

Considering the actual multi-agent coverage process, the motion trajectories are seriously affected by disturbances and noise. In this paper, a cooperative control method based on active disturbance rejection controller (ADRC) for multiple mecanum-wheeled robots (MWMR) is proposed to improve its robustness. In particular, to suppress the total disturbances during the running of each robot and reduce large computation and observation cost of high order ADRC, a reduced-order cascaded ADRC (RC-ADRC) is proposed. Moreover, distributed controller is proposed to track the expected trajectories of multiple mecanum-wheeled robots under disturbances. Compared with the proposed RC-ADRC based cooperative control scheme and PID based cooperative control one, the favorable motion trajectory tracking performance is obtained. Simulation results verify the superiority of the method. © 2023 IEEE.

关键词： Controllers

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Split-net: Dual transformer encoder with splitting scene text image for script identification

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Pattern Recognition Letters 2025年 196卷 100-108页

作者： Ayush Roy Shivakumara Palaiahnakote Umapada Pal Cheng-Lin Liu Department of Computer Science and Engineering State University of New York Buffalo United States School of Science Engineering and Environment University of Salford Manchester United Kingdom Computer Vision and Pattern Recognition Indian Statistical Institute Kolkata India State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation of the Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

Script identification is vital for understanding scenes and video images. It is challenging due to high variations in physical appearance, typeface design, complex background, distortion, and significant overlap in the characteristics of different scripts. Unlike existing models, which aim to tackle the script images utilizing the scene text image as a whole, we propose to split the image into upper and lower halves to capture the intricate differences in stroke and style of various scripts. Motivated by the accomplishments of the transformer, a modified script-style-aware Mobile-Vision Transformer (M-ViT) is explored for encoding visual features of the images. To enrich the features of the transformer blocks, a novel Edge Enhanced Style Aware Channel Attention Module (EESA-CAM) has been integrated with M-ViT. Furthermore, the model fuses the features of the dual encoders (extracting features from the upper and the lower half of the images) by a dynamic weighted average procedure utilizing the gradient information of the encoders as the weights. In experiments on three standard datasets, MLe2e, CVSI2015, and SIW-13, the proposed model yielded superior performance compared to state-of-the-art models.

关键词： Image coding

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Carbon-Aware Computing in a Network of Data Centers: A Hierarchical Game-Theoretic Approach

Carbon-Aware Computing in a Network of Data Centers: A Hiera...

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European Control Conference (ECC)

作者： Enno Breukelman Sophie Hall Giuseppe Belgioioso Florian Dörfler Division of Decision and Control Systems KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Stockholm Sweden Department of Electrical Engineering and Information Technology Automatic Control Laboratory ETH Zurich Zürich Switzerland

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Over the past decade, the continuous surge in cloud computing demand has intensified data center workloads, leading to significant carbon emissions and driving the need for improving their efficiency and sustainability. This paper focuses on the optimal allocation problem of batch compute loads with temporal and spatial flexibility across a global network of data centers. We propose a bilevel game-theoretic solution approach that captures the inherent hierarchical relationship between supervisory control objectives, such as carbon reduction and peak shaving, and operational objectives, such as priority-aware scheduling. Numerical simulations with real carbon intensity data demonstrate that the proposed approach success-fully reduces carbon emissions while simultaneously ensuring operational reliability and priority-aware scheduling.

关键词： Data centers Processor scheduling Computational modeling Carbon dioxide Games Supervisory control Resource management

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ANNS: An Intelligent Advanced Non-Convex Non-Smooth Scheme for IRS-Aided Next Generation Mobile Communication Networks

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IEEE Transactions on Mobile Computing 2025年

作者： Chen, Miaojiang Liu, Anfeng Xiong, Neal N. Ren, Yingying Song, Houbing Herbert Guangxi University School of Computer Electronics and Information China Guangxi Key Laboratory of Multimedia Communications and Network Technology Nanning530004 China Central South University School of Computer Science and Engineering Changsha410083 China Sul Ross State University Department of Computer Science and Mathematics AlpineTX79830 United States Department of Information Systems BaltimoreMD21250 United States

Enhancing the communication rate and quality has become the primary goal for the development of next-generation mobile communication networks, and traditional techniques such as MIMO and increasing the transmit power of the base station (BS) have not achieved a leapfrog effect. The emergence of Intelligent Reflective Surfaces (IRS) provides more reliable technical support for providing high-energy and high-rate communications. However, IRS-aided joint optimization with communication rate and quality of service constraints is a non-convex non-smooth optimization problem, and the optimal global solution cannot be obtained due to its computational complexity. In this paper, we propose an intelligent Advanced Non-convex Non-smooth Scheme (ANNS) in IRS-aided Next Generation Mobile Communication Networks for making the transmission rate of mission communication and communication quality effective. To ensure that the inequality constraints in the joint optimization problem are not violated and the equation constraints are satisfied, a hybrid deep reinforcement learning and data-experience-driven constraint security layer network is proposed, which maps the constraint violations into the safe feasible domain by mapping the constraint variables into the constraint variables mapping method, and the convergence of the algorithm is theoretically demonstrated. Experimental results show that the proposed ANNS performs superior optimization compared to SAC, DDPG, and A2C for solving non-convex non-smooth problems. The proposed ANNS has the potential to be generalized to other mobile computing applications with non-convex non-smooth characteristics. © 2002-2012 IEEE.

关键词： Deep reinforcement learning

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Open-Source Heterogeneous SoCs for AI The PULP Platform Experience

arXiv

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arXiv 2024年

作者： Conti, Francesco Garofalo, Angelo Rossi, Davide Tagliavini, Giuseppe Benini, Luca The Department of Electrical Electronic and Information Engineering University of Bologna Bologna40123 Italy The Department of Computer Science and Engineering University of Bologna Bologna40123 Italy The Integrated Systems Laboratory ETH Zürich Zurich8005 Switzerland

Since 2013, the PULP (Parallel Ultra-Low Power) Platform project has been oneof the most active and successful initiatives in designing research IPs andreleasing them as open-source. Its portfolio now ranges from processor cores tonetwork-on-chips, peripherals, SoC templates, and full hardware *** this article, we focus on the PULP experience designing heterogeneous AIacceleration SoCs - an endeavour encompassing SoC architecture definition;development, verification, and integration of acceleration IPs;front- andback-end VLSI design;testing;development of AI deployment software. Copyright © 2024, The Authors. All rights reserved.

关键词： System-on-chip

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Non-Convex Potential Games for Finding Global Solutions to Sensor Network Localization

Non-Convex Potential Games for Finding Global Solutions to S...

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European Control Conference (ECC)

作者： Gehui Xu Guanpu Chen Yiguang Hong Baris Fidan Thomas Parisini Karl H. Johansson Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Control Science and Engineering Tongji University Shanghai China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai China Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Electrical and Electronic Engineering Imperial College London London UK Department of Engineering and Architecture University of Trieste Trieste Italy

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Sensor network localization (SNL) problems require determining the physical coordinates of all sensors in a network. This process relies on the global coordinates of anchors and the available measurements between non-anchor and anchor nodes. Attributed to the intrinsic non-convexity, obtaining a globally optimal solution to SNL is challenging, as well as implementing corresponding algorithms. In this paper, we formulate a non-convex multi-player potential game for a generic SNL problem to investigate the identification condition of the global Nash equilibrium (NE) therein, where the global NE represents the global solution of SNL. We employ canonical duality theory to transform the non-convex game into a complementary dual problem. Then we develop a conjugation-based algorithm to compute the stationary points of the complementary dual problem. On this basis, we show an identification condition of the global NE: the stationary point of the proposed algorithm satisfies a duality relation. Finally, simulation results are provided to validate the effectiveness of the theoretical results.

关键词： Location awareness Coordinate measuring machines Simulation Current measurement Noise Europe Games

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A Reinforcement Learning Based Dynamic Multi-Objective Constrained Evolutionary Algorithm for Open-Pit Mine Truck Scheduling

A Reinforcement Learning Based Dynamic Multi-Objective Const...

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2023 China Automation Congress, CAC 2023

作者： Qiu, Junxiang Li, Changhe Yang, Shengxiang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo- Exploration Ministry of Education Wuhan430074 China School of Computer Science and Informatics De Montfort University Leicester United Kingdom

ISBN: (纸本)9798350303759

Aiming at the truck scheduling problem in the open-pit mine scenario, a truck scheduling model based on real-time ore blending is established, and an adaptive evolution algorithm for truck scheduling based on DCNSGA-III is proposed. In the established scheduling model, the real-time grade variance of the crushing plant is minimized as one of the optimization objectives, and the Q-learning algorithm is introduced to adaptively select one of the most effective operators during the search process. Experiments show that the proposed method can effectively control the grade fluctuation of the ore flow and better scheduling schemes are obtained in comparison with algorithms equipped with the traditional search operator selection methods. © 2023 IEEE.

关键词： Evolutionary algorithms

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RAT: A Refactoring-Aware Tool for Tracking Code History

RAT: A Refactoring-Aware Tool for Tracking Code History

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International Conference on Software engineering - Companion, ICSE, Companion

作者： Feifei Niu Junqian Shao Chaofan Xu Christoph Mayr-Dorn Wesley K. G. Assunção Liguo Huang Chuanyi Li Jidong Ge Bin Luo Alexander Egyed State Key Laboratory for Novel Software Technology Nanjing University Nanjing China Institute for Software Systems Engineering Johannes Kepler University Linz Austria Department of Computer Science North Carolina State University North Carolina USA Department of Computer Science and Engineering Southern Methodist University Dallas Texash USA

ISBN: (数字)9798400705021

ISBN: (纸本)9798350351781

History of code elements is essential for software maintenance tasks. However, code refactoring is one of the main causes that makes obtaining a consistent view on code evolution difficult as renaming or moving source code elements break such history. To this end, this paper presents RAT, a refactoring-aware tool for keeping track of code elements evolution across time, not just in terms of revisions but also in terms of refactoring. This is the first tool that enables fine-grained code element traceability of the whole repository. Empirical evaluation of leveraging our tool in three bug localization techniques relying on code history shows significant improvement in localization accuracy. Based on our findings, we believe that many of the state-of-the-art approaches using past source code data would benefit from our tool. Demo Tool: https://***/feifeiniu-se/RAT_Demo Demo Video: https://***/VI_xwUaIPp4

关键词： Location awareness Software maintenance Codes Source coding computer bugs Maintenance engineering History

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Towards efficient deep spiking neural networks construction with spiking activity based pruning 24

Towards efficient deep spiking neural networks construction ...

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Proceedings of the 41st International Conference on Machine Learning

作者： Yaxin Li Qi Xu Jiangrong Shen Hongming Xu Long Chen Gang Pan School of Computer Science and Technology Dalian University of Technology Dalian China and Guangdong Laboratory of Artificial Intelligence and Digital Economy Shenzhen China School of Computer Science and Technology Dalian University of Technology Dalian China College of Computer Science and Technology Zhejiang University Hangzhou China Centre for Systems Engineering and Innovation Imperial College London London UK

The emergence of deep and large-scale spiking neural networks (SNNs) exhibiting high performance across diverse complex datasets has led to a need for compressing network models due to the presence of a significant number of redundant structural units, aiming to more effectively leverage their low-power consumption and biological interpretability advantages. Currently, most model compression techniques for SNNs are based on unstructured pruning of individual connections, which requires specific hardware support. Hence, we propose a structured pruning approach based on the activity levels of convolutional kernels named Spiking Channel Activity-based (SCA) network pruning framework. Inspired by synaptic plasticity mechanisms, our method dynamically adjusts the network's structure by pruning and regenerating convolutional kernels during training, enhancing the model's adaptation to the current target task. While maintaining model performance, this approach refines the network architecture, ultimately reducing computational load and accelerating the inference process. This indicates that structured dynamic sparse learning methods can better facilitate the application of deep SNNs in low-power and high-efficiency scenarios.

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