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On convergence of covariance matrix of empirical Bayes hyper-parameter estimator

Control Theory and technology 2024年第2期22卷 149-162页

作者： Yue Ju Biqiang Mu Tianshi Chen School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong KongShenzhenShenzhen518172GuangdongChina Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology10044StockholmSweden Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of SciencesBeijing100190China

Regularized system identification has become the research frontier of system identification in the past *** related core subject is to study the convergence properties of various hyper-parameter estimators as the sample size goes to *** this paper,we consider one commonly used hyper-parameter estimator,the empirical Bayes(EB).Its convergence in distribution has been studied,and the explicit expression of the covariance matrix of its limiting distribution has been ***,what we are truly interested in are factors contained in the covariance matrix of the EB hyper-parameter estimator,and then,the convergence of its covariance matrix to that of its limiting distribution is *** general,the convergence in distribution of a sequence of random variables does not necessarily guarantee the convergence of its covariance ***,the derivation of such convergence is a necessary complement to our theoretical analysis about factors that influence the convergence properties of the EB hyper-parameter *** this paper,we consider the regularized finite impulse response(FIR)model estimation with deterministic inputs,and show that the covariance matrix of the EB hyper-parameter estimator converges to that of its limiting ***,we run numerical simulations to demonstrate the efficacy of ourtheoretical results.

关键词： Regularized system identification Hyper-parameter estimator Empirical Bayes Convergence of covariance matrix

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Real-Time Road Damage Detection and Infrastructure Evaluation Leveraging Unmanned Aerial Vehicles and Tiny Machine Learning

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IEEE Internet of Things Journal 2024年第12期11卷 21347-21358页

作者： Khan, Muhammad Waseem Obaidat, Mohammad S. Mahmood, Khalid Batool, Dania Badar, Hafiz Muhammad Sanaullah Aamir, Muhammad Gao, Wu Comsats University Islamabad Sahiwal Campus Department Of Computer Science Sahiwal57000 Pakistan Superior University Department Of Computer Science Lahore54000 Pakistan The University Of Jordan King Abdullah Ii School Of Information Technology Amman11942 Jordan University Of Science And Technology Beijing School Of Communication And Computing Engineering Beijing100083 China Amity University Amity School Of Engineering And Technology Uttar Pradesh Noida201301 India National Yunlin University Of Science And Technology Graduate School Of Intelligent Data Science Douliu64002 Taiwan University Of Palermo Department Of Engineering Palermo90133 Italy Emerson University Department Of Emerging Computing Technologies Multan60000 Pakistan Northwestern Polytechnical University Center For Bio-Inspired System-on-Chip School Of Computer Science Xi'an710060 China

Road damage detection (RDD) through computer vision and deep learning techniques can ensure the safety of vehicles and humans on the roads. Integrating unmanned aerial vehicles (UAVs) in RDD and infrastructure evaluation (IE) has also emerged as a key enabler, contributing significantly to data acquisition and real-time monitoring of road damages, such as potholes, cracks, and surface anomalies, facilitating proactive maintenance and improved road conditions. These UAVs are low-powered and resource-constrained devices that work autonomously to perform pattern detection and decision making leveraging tiny machine learning (Tiny ML) algorithms. These Tiny ML algorithms are designed to run on edge devices, IoT devices, UAVs, etc. In this study, the RDD2022 data set collected using UAVs and dashboard cameras of vehicles was utilized to train pure and mixed models that exhibit class instance imbalance in certain classes which is addressed by implementing data augmentation as a regularization technique. State-of-the-art two-stage detectors: Faster R-CNN ResNet101 and one-stage detectors: SSD MobileNet V1 FPN, YOLOv5, and Efficientdet D1 are employed. The results indicate that the two-stage detector achieved an impressive mean average precision (mAP) of 88.49% overall and 96.62% for focused classes. Notably, the state-of-the-art Efficientdet D1 approach achieved a competitive mAP of 86.47% overall and 95.12% for focused classes, with significantly lower computational cost. These findings highlight the potential of advanced object detection techniques, particularly Efficientdet D1, to enhance the accuracy and efficiency of RDD systems, thereby improving passenger safety and overall performance. © 2014 IEEE.

关键词： Object detection

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Prediction of Geopolymer Concrete Compressive Strength Using Convolutional Neural Networks

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computer Modeling in engineering & sciences 2024年第5期139卷 1455-1486页

作者： Kolli Ramujee Pooja Sadula Golla Madhu Sandeep Kautish Abdulaziz S.Almazyad Guojiang Xiong Ali Wagdy Mohamed Department of Civil Engineering VNR Vignana Jyothi Institute of Engineering and TechnologyHyderabadTelangana500090India Department of Information Technology VNR Vignana Jyothi Institute of Engineering and TechnologyHyderabadTelangana500090India Department of Computer Science LBEF Campus(Asia Pacific University of Technology&InnovationMalaysia)Kathmandu44600Nepal Department of Computer Engineering College of Computer and Information SciencesKing Saud UniversityP.O.Box 51178Riyadh11543Saudi Arabia Guizhou Key Laboratory of Intelligent Technology in Power System College of Electrical EngineeringGuizhou UniversityGuiyang550025China Operations Research Department Faculty of Graduate Studies for Statistical ResearchCairo UniversityGiza12613Egypt Applied Science Research Center Applied Science Private UniversityAmmanJordan

Geopolymer concrete emerges as a promising avenue for sustainable development and offers an effective solution to environmental *** attributes as a non-toxic,low-carbon,and economical substitute for conventional cement concrete,coupled with its elevated compressive strength and reduced shrinkage properties,position it as a pivotal material for diverse applications spanning from architectural structures to transportation *** this context,this study sets out the task of using machine learning(ML)algorithms to increase the accuracy and interpretability of predicting the compressive strength of geopolymer concrete in the civil engineering *** achieve this goal,a new approach using convolutional neural networks(CNNs)has been *** study focuses on creating a comprehensive dataset consisting of compositional and strength parameters of 162 geopolymer concrete mixes,all containing Class F fly *** selection of optimal input parameters is guided by two distinct *** first criterion leverages insights garnered from previous research on the influence of individual features on compressive *** second criterion scrutinizes the impact of these features within the model’s predictive *** to enhancing the CNN model’s performance is the meticulous determination of the optimal *** a systematic trial-and-error process,the study ascertains the ideal number of epochs for data division and the optimal value of k for k-fold cross-validation—a technique vital to the model’s *** model’s predictive prowess is rigorously assessed via a suite of performance metrics and comprehensive score ***,the model’s adaptability is gauged by integrating a secondary dataset into its predictive framework,facilitating a comparative evaluation against conventional prediction *** unravel the intricacies of the CNN model’s learning trajectory,a loss plot is deployed to elucidate its learning rat

关键词： Class F fly ash compressive strength geopolymer concrete prediction deep learning convolutional neural network

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Longitudinal velocity control of autonomous driving based on extended state observer

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CAAI Transactions on Intelligence technology 2025年第1期10卷 36-46页

作者： Hongbo Gao Hanqing Yang Xiaoyu Zhang Xiangyun Ren Fenghua Liang Ruidong Yan Qingchao Liu Mingmao Hu Fang Zhang Jiabing Gao Siyu Bao Keqiang Li Deyi Li Danwei Wang Department of Automation University of Science and Technology of ChinaHefeiChina State Key Laboratory of Intelligent Vehicle Safety Technology ChongqingChina Institute of Advanced Technology University of Science and Technology of ChinaHefeiChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore School of Traffic and Transportation Beijing Jiaotong UniversityBeijingChina Automotive Engineering Research Institute Jiangsu UniversityZhenjiangChina School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore School of Automotive Engineering Hubei University of Automotive TechnologyShiyanChina Beijing Idriverplus Technology Co. Ltd.BeijingChina Chery Automobile Co. Ltd.WuhuChina State Key Laboratory of Automotive Safety and Energy Tsinghua UniversityBeijingChina Department of Computer Science and Technology Tsinghua UniversityBeijingChina

Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity ***,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of *** address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback *** comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking ***,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error *** improved ESO significantly enhances the disturbance rejection performance of ***,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.

关键词： active disturbance rejection control(ADRC) autonomous vehicle extended state observer(ESO) intelligent control longitudinal velocity control

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Security within Security: Attack Detection Model with Defenses Against Attacks Capability for Zero-trust Networks

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IEEE Journal on Selected Areas in Communications 2025年第6期43卷 2312-2327页

作者： Wang, Tingting Fang, Kai Cai, Jijing Wang, Lina Tian, Jinyu Feng, Hailin Li, Jianqing Guizani, Mohsen Wang, Wei Macau University of Science and Technology Faculty of Innovation Engineering School of Computer Science and Engineering Macau999078 China Zhejiang A&F University College of Mathematics and Computer Science Hangzhou311300 China Machine Learning Department United Arab Emirates Shenzhen MSU-BIT University Guangdong-Hong Kong-Macao Joint Laboratory for Emotion Intelligence and Pervasive Computing Artificial Intelligence Research Institute Shenzhen518172 China Beijing Institute of Technology School of Medical Technology Beijing100081 China

Traditional traffic anomaly-based attack detection methods in Zero-trust Networks (ZTN) suffer from inherent security vulnerabilities, as they neglect considerations regarding their security defenses. Compromising the attack detection model itself can result in the breakdown of normal attack detection capabilities. Ensuring the security of the attack detection model during runtime presents a novel challenge. To address these shortcomings, we propose a novel attack detection model, termed Security within Security: Attack Detection Model with Defenses Against Attacks Capability for Zero-Trust Networks (SWS), aimed at enhancing the security of ZTN. SWS focuses on achieving attack detection in non-secure detection environments, to maintain its detection capability even when under attack. By employing a soft thresholding method, SWS adapts to the dynamic changes in network traffic, thus reducing the interference of attack signals. The incorporation of an attention mechanism enables SWS to concentrate on analyzing the most indicative traffic features of attack behavior. Additionally, we integrate Residual Networks (ResNet) and Bidirectional Long Short-Term Memory (BiLSTM) to enhance the robustness of identifying complex network attack behaviors. The effectiveness of the SWS is validated through ablation studies, model comparisons, experiments conducted over different training epochs, and experiments conducted on various components of the dataset. Experimental results demonstrate that compared to existing attack detection models, SWS achieves improvements in detection accuracy and recall rate by 13.4% and 10.6%, respectively, while reducing the False Positive Rate (FPR) by 16.9%. © 1983-2012 IEEE.

关键词： Economic and social effects

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Asymmetrically coordinated single-atom iron nanozymes with Fe-N_(1)C_(2)structure:A peroxidase mimetic for melatonin detection

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Nano Research 2023年第4期16卷 4751-4757页

作者： Lihong Lin Heng Li Hongfei Gu Zhiyi Sun Juan Huang Zhenni Qian Hang Li Juzhe Liu Hongyan Xi Pengfei Wu Qingqing Liu Shuhu Liu Lirong Zheng Zhuo Chen Zhengbo Chen Juanjuan Qi Energy&Catalysis Center School of Materials Science and EngineeringBeijing Institute of TechnologyBeijing 100081China Department of Chemistry Capital Normal UniversityBeijing 100081China The Key Laboratory of Resources and Environmental System Optimization Ministry of Education(MOE)College of Environmental Science and EngineeringNorth China Electric Power UniversityBeijing 102206China School of Chemistry Beihang UniversityBeijing 100191China Institute of High Energy Physics Chinese Academy of ScienceBeijing 100049China

Owing to the unique coordination environment and high atom utilization efficiency,single atom catalysts have been considered as an ideal artificial enzyme to mimic natural ***,single-atom Fe nanozyme anchored on N-doped Ti_(3)C_(2)Tx(Fe SA/N-Ti_(3)C_(2)Tx)with asymmetrically coordinated Fe-N_(1)C_(2)configuration is synthesized by vacancy capture and heteroatom doping strategy,which exhibits excellent peroxidase-like *** on the results of peroxidase catalytic kinetics and X-ray adsorption fine spectroscopy,the Fe-N_(1)C_(2)active sites in Fe SA/N-Ti_(3)C_(2)Tx are responsible for the excellent ***,the developed Fe SA/N-Ti_(3)C_(2)Tx can be employed to quantitative detection of melatonin(MT),which shows a wide linear detection range(0.01-100μM)and an excellent detection limit(7.3 nM)in buffer,0.01-100μM and 7.8 nM in serum *** work proves that MXene-based single atoms can be promising nanozyme in the field of bioassays.

关键词： iron single atom asymmetric coordination Ti_(3)C_(2)Tx MXene nanozyme melatonin detection

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Adaptive Intrusion Detection in Cyber-Physical systems using Reinforcement Learning-Based Autoencoders 2

Adaptive Intrusion Detection in Cyber-Physical Systems using...

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2nd IEEE International Conference on Integrated Intelligence and Communication systems, ICIICS 2024

作者： Rajathi, N. Divya, S. Anitha Elavarasi, S. Saritha, G. Jeya ramya, V. Department of Information Technology Kumaraguru College of Technology Coimbatore India Department of Computer Science and Business System Bannari Amman Institute of Technology Erode India Department of Computer Science and Engineering Sona College of Technology Salem India Department of Electronics and Communication Engineering Sri Sai Ram Institute of Technology Chennai India Department of Electronics and Communication Engineering Panimalar Engineering College Chennai India

ISBN: (纸本)9798331504960

The increasing integration of Cyber-Physical systems (CPS) in critical infrastructure presents unique challenges for ensuring robust cybersecurity. Traditional Intrusion Detection systems (IDS) often struggle with the dynamic, complex nature of CPS environments, making adaptive solutions essential. This paper presents an Adaptive Intrusion Detection system (AIDS) that leverages Reinforcement Learning-Based Autoencoders (RL-AE) to detect and respond to cyber intrusions in CPS environments. The proposed model combines the power of autoencoders for unsupervised anomaly detection with reinforcement learning to continuously adapt and improve detection accuracy. Experimental results on benchmark CPS datasets demonstrate that the RL-AE-based IDS achieves a detection accuracy of 98.3%, a precision rate of 96.8%, and a recall rate of 97.5%, effectively minimizing false positives to 2.4%. The system also demonstrated rapid adaptability, with a convergence time of less than 50 iterations in response to new attack patterns. These results highlight the model's ability to enhance system resilience and promote secure and efficient CPS operations in industrial and critical infrastructure applications. This approach provides a scalable and flexible IDS solution, promoting secure and resilient CPS operations in real-time, high-stakes environments. © 2024 IEEE.

关键词： Network intrusion

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A trajectory-level robot skill learning method based on fuzzy systems

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science China(Information sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Graphene-based dual-function acoustic transducers for machine learning-assisted human-robot interfaces

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InfoMat 2023年第2期5卷 66-79页

作者： Hao Sun Xin Gao Liang-Yan Guo Lu-Qi Tao Zi Hao Guo Yangshi Shao Tianrui Cui Yi Yang Xiong Pu Tian-Ling Ren Institute of Microelectronics and Beijing National Research Center for Information Science and Technology(BNRist) Tsinghua UniversityBeijingPeople's Republic of China CAS Center for Excellence in Nanoscience Beijing Key Laboratory of Micro-nano Energy and SensorBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijingPeople's Republic of China State Key Laboratory of Power Transmission Equipment and System Security and New Technology School of Electrical EngineeringChongqing UniversityChongqingPeople's Republic of China School of Computer Science&Technology Beijing Institute of TechnologyBeijingPeople's Republic of China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijingPeople's Republic of China

Human–robot interface(HRI)electronics are critical for realizing robotic ***,we report graphene-based dual-function acoustic transducers for machine learning-assisted human–robot interfaces(GHRI).The GHRI functions both an artificial ear through the triboelectric acoustic sensing mechanism and an artificial mouth through the thermoacoustic sound emission *** success of the integrated device is also attributed to the multifunctional laser-induced graphene,as either triboelectric materials,electrodes,or thermoacoustic *** systematically optimizing the structure parameters,the GHRI achieves high sensitivity(4500 mV Pa^(–1))and operating durability(1000000 cycles and 60 days),capable of recognizing speech identities,emotions,content,and other information in the human *** the assistance of machine learning,30 speech categories are trained by a convolutional neural network,and the accuracy reaches 99.66%and 96.63%in training datasets and test ***,GHRI is used for artificial intelligence communication based on recognized speech *** work shows broad prospects for the development of robotic intelligence.

关键词： human-robot interface laser-induced graphene machine learning thermoacoustic triboelectric nanogenerator

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Burst-Sensitive Traffic Forecast via Multi-Property Personalized Fusion in Federated Learning

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IEEE Transactions on Mobile Computing 2025年第7期24卷 5598-5614页

作者： Xue, Jingjing Sun, Sheng Liu, Min Wang, Yuwei Meng, Xuying Wang, Jingyuan Zhang, JunBo Xu, Ke Chinese Academy of Sciences Institute of Computing Technology Beijing100045 China University of Chinese Academy of Sciences Beijing101408 China Zhongguancun Lab Beijing100190 China Beihang University School of Computer Science and Engineering Beijing100191 China Beihang University MIIT Key Laboratory of Data Intelligence and Management Beijing100191 China JD Technology JD iCity JD Intelligent Cities Research Beijing101111 China Tsinghua University Department of Computer Science and Technology Beijing100190 China Zhongguancun Laboratory Beijing100081 China

For distributed network traffic prediction with data localization and privacy protection, Federated Learning (FL) enables collaborative training without raw data exchange across Base Stations (BSs). Nevertheless, traffic across BSs exhibit inherently heterogeneous trend burst and smooth fluctuation properties, but existing FL methods model single-scale series from only one view, which cannot simultaneously capture diverse trend and fluctuation properties, especially distinct burst distributions. In this paper, we propose Personalized Federated Forecasting with Multi-property Self-fusion (P2FMS), which can represent multi-scale traffic properties from different views. With precise multi-property representations, a fusion-level prediction decision is learned for each client in a personalized manner to promptly sense traffic bursts and improve forecasting performance in non-IID settings. Specifically, P2FMS decomposes the traffic series into distinct time scales, based on which, we effectively extract closeness, period, and trend properties from different views. The closeness and period are embedded through global-view representations with spatial correlations, while non-stationary trends are individually fitted from the client-side view. Furthermore, a personalized combiner is designed to accurately quantify the proportion of general fluctuation raws (i.e., closeness and period) and specific trend property in predictions, which enables multi-property self-fusion for each client to accommodate heterogeneous traffic patterns and enhance prediction accuracy. Besides, an alternant training mechanism is introduced to optimize property representation and fusion modules with the convergence guarantee. Extensive experiments on real-world datasets show that P2FMS outperforms status quo methods in both prediction performance and convergence time. © 2002-2012 IEEE.

关键词： Weather forecasting

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