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Bayesian Neural Networks Uncertainty Quantification with Cubature Rules

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Bayesian Neural Networks Uncertainty Quantification with Cub...

International Joint Conference on Neural Networks (IJCNN)

作者： Peng Wang Nidhal C. Bouaynaya Lyudmila Mihaylova Jikai Wang Qibin Zhang Renke He Automatic Control & Systems Engineering Dept. The University of Sheffield Information and Navigation College Air Force Engineering University The 32nd Research Institute of CETC Department of Automation University of Science and Technology of China Department of Electrical and Computer Engineering Rowan University

ISBN: (数字)9781728169262

ISBN: (纸本)9781728169279

Bayesian neural networks are powerful inference methods by accounting for randomness in the data and the network model. Uncertainty quantification at the output of neural networks is critical, especially for applications such as autonomous driving and hazardous weather forecasting. However, approaches for theoretical analysis of Bayesian neural networks remain limited. This paper makes a step forward towards mathematical quantification of uncertainty in neural network models and proposes a cubature-rule-based computationally-efficient uncertainty quantification approach that captures layer-wise uncertainties of Bayesian neural networks. The proposed approach approximates the first two moments of the posterior distribution of the parameters by propagating cubature points across the network nonlinearities. Simulation results show that the proposed approach can achieve more diverse layer-wise uncertainty quantification results of neural networks with a fast convergence rate.

关键词： Neural networks Uncertainty Bayes methods Computational modeling Gaussian distribution Two dimensional displays Weather forecasting

Domain-invariant similarity activation map contrastive learning for retrieval-based long-term visual localization

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arXiv 2020年

作者： Hu, Hanjiang Wang, Hesheng Liu, Zhe Chen, Weidong Autonomous Robot Lab Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China The State Key Laboratory of Robotics and System HIT The Department of Computer Science and Technology University of Cambridge United Kingdom

Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of environmental conditions, e.g. illumination, seasonal and weather changes, retrieval-based visual localization is severely affected and becomes a challenging problem. In this work, a general architecture is first formulated probabilistically to extract domain-invariant feature through multi-domain image translation. And then a novel gradient-weighted similarity activation mapping loss (Grad-SAM) is incorporated for finer localization with high accuracy. We also propose a new adaptive triplet loss to boost the contrastive learning of the embedding in a self-supervised manner. The final coarse-to-fine image retrieval pipeline is implemented as the sequential combination of models without and with Grad-SAM loss. Extensive experiments have been conducted to validate the effectiveness of the proposed approach on the CMU-Seasons dataset. The strong generalization ability of our approach is verified on RobotCar dataset using models pre-trained on urban part of CMU-Seasons dataset. Our performance is on par with or even outperforms the state-of-the-art image-based localization baselines in medium or high precision, especially under the challenging environments with illumination variance, vegetation and night-time images. The code and pretrained models are available on https://***/HanjiangHu/DISAM. Copyright © 2020, The Authors. All rights reserved.

关键词： Image retrieval

The vulnerability of cyber-physical system under stealthy attacks

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arXiv 2020年

作者： Sui, Tianju Mo, Yilin Marelli, Damián Sun, Ximing Fu, Minyue School of Control Science and Engineering Dalian University of Technology Dalian China Department of Automation Tsinghua University Beijing China School of Automation Guangdong University of Technology Guangzhou China French Argentine International Center for Information and Systems Sciences National Scientific and Technical Research Council Argentina School of Electrical Engineering and Computer Science University of Newcastle CallaghanNSW2308 Australia School of Automation Guandong University of Technology China

In this paper, we study the impact of stealthy attacks on the Cyber-Physical System (CPS) modeled as a stochastic linear system. An attack is characterised by a malicious injection into the system through input, output or both, and it is called stealthy (resp. strictly stealthy) if it produces bounded changes (resp. no changes) in the detection residue. Correspondingly, a CPS is called vulnerable (resp. strictly vulnerable) if it can be destabilized by a stealthy attack (resp. strictly stealthy attack). We provide necessary and sufficient conditions for the vulnerability and strictly vulnerability. For the invulnerable case, we also provide a performance bound for the difference between healthy and attacked system. Numerical examples are provided to illustrate the theoretical results. Copyright © 2020, The Authors. All rights reserved.

关键词： Embedded systems

Enhanced gear fault diagnosis via heterodyne downconversion: Theoretical verification and optimized ultrasonic signal acquisition

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Measurement 2025年 256卷

作者： Jingchao Zhang Shaoqun Zhang Yixue Dong Chen Li Guoqian Jiang Yingwei Li Xiaoli Li School of Information Science and Engineering Yanshan University Qinhuangdao 066004 China Hebei Key Laboratory of Information Transmission and Signal Processing Qinhuangdao 066004 China Intelligent Control System R&D Department Computer Application Technology Research Institute China Ordnance Industry Beijing 100089 China School of Electrical Engineering Yanshan University Qinhuangdao 066004 China School of Automation Science and Engineering South China University of Technology Guangzhou 510641 China Pazhou Lab Guangzhou 510330 China

Ultrasonic fault diagnosis has emerged as a promising technique for gear fault detection, owing to its capability to capture modulated high-frequency transients induced by incipient or localized defects. However, its practical application is constrained by the requirement for extremely high sampling rates. Heterodyne downconversion offers a potential solution by translating ultrasonic spectral components to lower frequencies, though its effectiveness in preserving diagnostic features remains insufficiently validated. This study conducts a theoretical analysis of the influence of heterodyne downconversion on ultrasonic signal characteristics and proposes an optimized heterodyne-based ultrasonic acquisition system with enhanced charge amplification and frequency conversion circuits. Experimental evaluations using a gear fault test platform demonstrate that the downconverted signals preserve the envelope spectral features of the original ultrasonic signals. Furthermore, comparative analyses indicate that the proposed method achieves superior fault detection sensitivity compared to conventional vibration-based techniques, particularly under high rotational speeds. These findings validate the feasibility and diagnostic advantages of the proposed heterodyne-based approach for efficient and accurate ultrasonic condition monitoring.

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Resonant beam communications with echo interference elimination

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arXiv 2021年

作者： Xiong, Mingliang Liu, Qingwen Wang, Gang Giannakis, Georgios B. Zhang, Sihai Zhu, Jinkang Huang, Chuan College of Electronics and Information Engineering Tongji University Shanghai201804 China State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Minnesota MinneapolisMN55455 United States Key Lab of Wireless-Optical Communications University of Science and Technology of China Hefei Anhui230026 China School of Science and Engineering Chinese University of Hong Kong Shenzhen Guangdong518172 Hong Kong

Resonant beam communications (RBCom) is capable of providing wide bandwidth when using light as the carrier. Besides, the RBCom system possesses the characteristics of mobility, high signal-to-noise ratio (SNR), and multiplexing. Nevertheless, the channel of the RBCom system is distinct from other light communication technologies due to the echo interference issue. In this paper, we reveal the mechanism of the echo interference and propose the method to eliminate the interference. Moreover, we present an exemplary design based on frequency shifting and optical filtering, along with its mathematic model and performance analysis. The numerical evaluation shows that the channel capacity is greater than 15 bit/s/Hz. Copyright © 2021, The Authors. All rights reserved.

关键词： Internet of things

Learning of long-horizon sparse-reward robotic manipulator tasks with base controllers

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arXiv 2020年

作者： Wang, Guangming Xin, Minjian Wu, Wenhua Liu, Zhe Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Computer Science and Engineering University of California San Diego La Jolla CA92093 United States Department of Computer Science and Technology University of Cambridge CambridgeCB2 1TN United Kingdom

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting causes exploration inefficient. On the other hand, exploration using physical robots is of high cost and unsafe. In this paper, we propose a method of learning long-horizon sparse-reward tasks utilizing one or more existing traditional controllers named base controllers in this paper. Built upon Deep Deterministic Policy Gradients (DDPG), our algorithm incorporates the existing base controllers into stages of exploration, value learning, and policy update. Furthermore, we present a straightforward way of synthesizing different base controllers to integrate their strengths. Through experiments ranging from stacking blocks to cups, it is demonstrated that the learned state-based or image-based policies steadily outperform base controllers. Compared to previous works of learning from demonstrations, our method improves sample efficiency by orders of magnitude and improves the performance. Overall, our method bears the potential of leveraging existing industrial robot manipulation systems to build more flexible and intelligent controllers. Copyright © 2020, The Authors. All rights reserved.

关键词： Deep learning

Lecture Notes in Networks and Systems

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Preface

Lecture Notes in Networks and Systems 2023年 764 LNNS卷 v-vi页

作者： Milrad, Marcelo Otero, Nuno Sánchez-Gómez, María Cruz Mena, Juan José Durães, Dalila Sciarrone, Filippo Alvarez-Gómez, Claudio Rodrigues, Manuel Vittorini, Pierpaolo Gennari, Rosella Di Mascio, Tania Temperini, Marco De la Prieta, Fernando Linnaeus University Växjö Sweden University of Greenwich London United Kingdom Department of Didactics Organization and Research Method University of Salamanca Salamanca Spain University of Minho Braga Portugal Mercatorum University Rome Italy Facultad de Ingeniería y Ciencias Aplicadas Universidad de los Andes Santiago Chile Department of Life Health and Environmental Sciences University of L’Aquila L’Aquila Italy Faculty of Computer Science Free University of Bozen-Bolzano Bolzano Italy Department of Information Engineering Computer Science and Mathematics University of L’Aquila L’Aquila Italy Dipartimento di Ingegneria Informatica Sapienza Universita’ di Roma Rome Italy Department of Computer Science and Automation Control University of Salamanca Salamanca Spain

On PID control for synchronization of complex dynamical network with delayed nodes

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science China(Technological sciences) 2019年第8期62卷 1412-1422页

作者： GU HaiBo Lv JinHu LIN ZongLi Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment and Beijing Advanced Innovation Center for Big Data and Brain Machine Intelligence Beihang University Beijing 100083 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904-4743 USA

Over the past two decades, synchronization, as an interesting collective behavior of complex dynamical networks, has been attracting much attention. To reveal and analyze the inherent mechanism of synchronization in complex dynamical networks with time delays in nodes, this paper attempts to use PD and PI control protocols to achieve synchronization. Based on a classical network model, we investigate the PD and PI control for synchronization of complex dynamical networks with delayed nodes and obtain some sufficient conditions. By using Lyapunov functions and appropriate state transformations, we prove that global synchronization can be achieved via the above control protocols. Finally, some simulation examples are illustrated to validate the effectiveness of the proposed theoretical results.

关键词： synchronization PID control complex dynamical network networked control system delayed node

From AR to AI: Augmentation Technology for Intelligent Surgery and Medical Treatments

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IFAC-PapersOnLine 2020年第5期53卷 792-796页

作者： Mei Zhang Zhicheng Zhang Xiao Wang Hui Yu Yifan Xia Kanran Tan Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China and also with the Qingdao Academy of Intelligent Industries Qingdao 266109 China The Department of the 7th Medical Center of PLA General Hospital Beijing 100700 China The Department of Computer Science Purdue University West Lafayette Indiana 47906 USA The School of Creative Technologies University of Portsmouth UK The Department of Computer Science Johns Hopkins University Baltimore Maryland USA

With the development of augmented reality (AR) technologies, more and more approaches are proposed for medical applications. With the help of AR technology, the doctor can highly improve the spatial perception and obtain more information beneath the displayed image. Generally, 3D reconstruction, registration, tracking and depth visualization are all important for an AR system, which directly determine the accuracy of the system. However, none of recent systems have achieved a perfect 3D vision for doctors. It is particularly challenging for the AR system to perform well for operation on highly deformable body tissues. Therefore, there is an urgent need to improve the 3D vision and intelligence of AR systems. In this paper, we provide a review of the recent development of augmentation technologies for surgery and medical treatment. And then, we introduce the parallel intelligence theory into AR systems, which can provide a feasible approach to enhance the efficiency.

关键词： Potential impact of automation open problems Augmented reality Medical treatment Parallel theory 3D technology