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arXiv 2025年

作者： Shen, Yehui Zhang, Lei Li, Qingqiu Zhao, Xiongwei Wang, Yue Lu, Huimin Chen, Xieyuanli College of Intelligence Science and Technology National University of Defense Technology China Faculty of Robot Science and Engineering Northeastern University China School of Electronic and Information Engineering Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University China SIASUN Robot& Automation Co. Ltd China School of Computer Science Fudan University China

Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environments. However, most existing VPR datasets are limited to single-viewpoint scenarios, leading to reduced recognition accuracy, particularly in multi-directional driving or feature-sparse scenes. Moreover, obtaining additional data to mitigate these limitations is often expensive. This paper introduces a novel training paradigm to improve the performance of existing VPR networks by enhancing multi-view diversity within current datasets through uncertainty estimation and NeRF-based data augmentation. Specifically, we initially train NeRF using the existing VPR dataset. Then, our devised self-supervised uncertainty estimation network identifies places with high uncertainty. The poses of these uncertain places are input into NeRF to generate new synthetic observations for further training of VPR networks. Additionally, we propose an improved storage method for efficient organization of augmented and original training data. We conducted extensive experiments on three datasets and tested three different VPR backbone networks. The results demonstrate that our proposed training paradigm significantly improves VPR performance by fully utilizing existing data, outperforming other training approaches. We further validated the effectiveness of our approach on self-recorded indoor and outdoor datasets, consistently demonstrating superior results. Our dataset and code have been released at https://***/nubot-nudt/UGNA-VPR. Copyright © 2025, The Authors. All rights reserved.

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Research on the In uence of Small Changes in the Chemical Composition on Changes in the Environment of Fe Atoms in Rapid-Quenched Alloys

Research on the In uence of Small Changes in the Chemical Co...

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作者： Jeż, K. Pietrusiewicz, P. Sandu, A.V. SALLEh, M.A.A.M. Nabialek, M.M. Jaruga, T. Faculty of Civil Engineering Czestochowa University of Technology Akademicka 3 Czestochowa42-200 Poland Department of Physics Faculty of Production Engineering and Materials Technology Czestochowa University of Technology al. Armii Krajowej 19 Czestochowa42-200 Poland Faculty of Material Science and Engineering Gheorghe Asachi Technical University 64 Dumitru Mangeron Blvd Iasi700050 Romania Academy of Romanian Scientists 54 Splaiul Independentei St. Sect. 5 Bucharest050094 Romania Center of Excellence Geopolymer and Green Technology Universiti Malaysia Perlis Taman Muhibbah Perlis Arau02600 Malaysia Department of Technology and Automation Faculty of Mechanical Engineering and Computer Science Czestochowa University of Technology al. Armii Krajowej 19c Czestochowa42-200 Poland

Rapid-quenched Fe-based alloys may show hard or soft magnetic properties depending on the chemical composition and structure of the alloy. One of the most sensitive methods of studying the structure and, indirectly, magnetic properties is Mössbauer spectroscopy. Using this method, it is possible to determine the surroundings of Fe atoms and to identify crystalline phases in the volume of the alloy. The distributions of hyper ne eld induction supplemented with measurements of saturation magnetization as a function of the external magnetic eld allow us to explain signi cant differences in magnetic properties also within the amorphous structure. The paper presents the results of research on the structure and magnetic properties of rapid-quenched FeNbYHfB alloys. It was found that slight changes in the chemical composition affect the surroundings of Fe atoms and the density of the alloy, which correlates with the change in the value of the coercive eld and saturation magnetization of rapid-quenched alloys. © 2025 Polska Akademia Nauk. All rights reserved.

关键词： Saturation magnetization

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Knowledge processing in control systems

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IEEE TRANSACTIONS ON KNOWLEDGE AND DATA engineering 1996年第1期8卷 106-119页

作者： Gudwin, RR Gomide, FAC Netto, MLA Magalhaes, MF Department of Computer Enginemkg and lndustrial Automation Faculty of Electrical Engineering State University of Campinas Sao Paulo Brazil

A real time knowledge processing procedure is proposed for rule-based systems in general and control systems applications in particular. Distinguishing features of the procedure include a mechanism for rule base compression and an inference scheme based on matrix operators. The procedure is also amenable for schedulability analysis to provide response time warranty An application concerning supervisory group control of elevators is also included to show the usefulness of the proposed procedure.

关键词： artificial intelligence real-time computer systems computer control knowledge engineering real-time rule based systems knowledge representation

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Prox-DBRO-VR: A Unified Analysis on Byzantine-Resilient Decentralized Stochastic Composite Optimization With Variance Reduction and Nonasymptotic Convergence Rates

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年

作者： Hu, Jinhui Chen, Guo Li, Huaqing Guo, Xiaoyu Ran, Liang Huang, Tingwen Central South University School of Automation Hunan Changsha 410083 China City University of Hong Kong Department of Mechanical Engineering Hong Kong University of New South Wales School of Electrical Engineering and Telecommunications Sydney 2052 NSW Australia Southwest University Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Chongqing 400715 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen 518055 China

Decentralized stochastic gradient algorithms efficiently solve large-scale finite-sum optimization problems when all agents in the network are reliable. However, most of these algorithms are not resilient to adverse conditions, such as malfunctioning agents, software bugs, and cyber attacks. This article aims to handle a class of general composite optimization problems over multiagent systems (MASs) in the presence of an unknown number of Byzantine agents. Building on a resilient aggregation mechanism and the proximal-gradient mapping method, a Byzantine-resilient decentralized stochastic proximal-gradient algorithmic framework is proposed, dubbed Prox-DBRO-VR, which achieves an optimization and control goal using only local computations and communications. To asymptotically reduce the noise variance arising from local gradient estimation and accelerate the convergence, we incorporate two localized variance-reduced (VR) techniques (SAGA and LSVRG) into Prox-DBRO-VR to design Prox-DBRO-SAGA and Prox-DBRO-LSVRG. By analyzing the contraction relationships among the gradient-learning error, resilient consensus condition, and convergence error in a unified theoretical framework, it is proved that both Prox-DBRO-SAGA and Prox-DBRO-LSVRG, with a well-designed constant (resp., decaying) step-size, converge linearly (resp., sublinearly) inside an error ball around the optimal solution to the original problem under standard assumptions. A tradeoff between convergence accuracy and Byzantine resilience in both linear and sublinear cases is also characterized. In numerical experiments, the effectiveness and practicability of the proposed algorithms are manifested via resolving a decentralized sparse machine learning problem under various Byzantine attacks. © 2013 IEEE.

关键词： Byzantine-resilient algorithms composite optimization decentralized stochastic optimization system security variance reduction

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Protocol for the fabrication of self-standing (nano)cellulose-based 3D scaffolds for tissue engineering

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STAR Protocols 2025年第1期6卷 103583页

作者： Mohan, Tamilselvan Bračič, Matej Bračič, Doris Lackner, Florian Nagaraj, Chandran Štiglic, Andreja Dobaj Kargl, Rupert Kleinschek, Karin Stana Graz University of Technology Institute for Chemistry and Technology of Biobased System (IBioSys) Stremayrgasse 9 Graz 8010 Austria University of Maribor Faculty of Mechanical Engineering Laboratory for Characterization and Processing of Polymers Smetanova Ulica 17 Maribor 2000 Slovenia Department of Internal Medicine Division of Pulmonology Medical University of Graz Graz Austria Institute of Automation Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia Members of the European Polysaccharide Network of Excellence (EPNOE) Austria

Three-dimensional (3D) and porous scaffolds made from nanocellulosic materials hold significant potential in tissue engineering (TE). Here, we present a protocol for fabricating self-standing (nano)cellulose-based 3D scaffolds designed for in vitro testing of cells from skin and cartilage tissues. We describe steps for preparation of nanocellulose ink, scaffold formation using 3D printing, and freeze-drying. We then detail post-processing procedures to enhance mechanical properties, stability, and biocompatibility. This protocol offers researchers a framework for developing versatile and sustainable biomaterials for regenerative medicine. For complete details on the use and execution of this protocol, please refer to Mohan et al.¹ and Štiglic et al.² © 2025 The Authors

关键词： Biotechnology and bioengineering Chemistry Material sciences Tissue engineering

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Ubiquitous Mining with Interactive Data Mining Agents

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Journal of computer Science & Technology 2009年第6期24卷 1018-1027页

作者：吴信东朱兴全陈琪君王飞跃 School of Computer Science and Information Engineering Hefei University of Technology Department of Computer Science University of Vermont Faculty of Engineering and Information Technology University of Technology Institute of Automation Chinese Academy of Sciences

Due to the increasing availability and sophistication of data recording techniques, multiple information sources and distributed computing are becoming the important trends of modern information systems. Many applications such as security informatics and social computing require a ubiquitous data analysis platform so that decisions can be made rapidly under distributed and dynamic system environments. Although data mining has now been popularly used to achieve such goals, building a data mining system is, however, a nontrivial task, which may require a complete understanding on numerous data mining techniques as well as solid programming skills. Employing agent techniques for data analysis thus becomes increasingly important, especially for users not familiar with engineering and computational sciences, to implement an effective ubiquitous mining platform. Such data mining agents should, in practice, be intelligent, complete, and compact. In this paper, we present an interactive data mining agent - OIDM （online interactive data mining）, which provides three categories （classification, association analysis, and clustering） of data mining tools, and interacts with the user to facilitate the mining process. The interactive mining is accomplished through interviewing the user about the data mining task to gain efficient and intelligent data mining control. OIDM can help users find appropriate mining algorithms, refine and compare the mining process, and finally achieve the best mining results. Such interactive data mining agent techniques provide alternative solutions to rapidly deploy data mining techniques to broader areas of data intelligence and knowledge informaties.

关键词： information systems human-centered computing data mining intelligent agents

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A Survey of Human-centered Intelligent Robots:Issues and Challenges

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 602-609页

作者： Wei He Zhijun Li C.L.Philip Chen IEEE School of Automation and Electrical Engineering University of Science and Technology Beijing College of Automation Science and Engineering South China University of Technology Department of Computer and Information Science Faculty of Science and Technology University of Macao

Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.

关键词： Human-centered robots human-robot interaction intelligent control navigation path planning pattern recognition

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Share of Additional Losses in Total Core Losses in the Remagnetization Process of Amorphous FeB-Based Alloys

Share of Additional Losses in Total Core Losses in the Remag...

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作者： Jeż, B. Stambula, S. Kukula, O. Wyslocki, J.J. Razak, N.R.A. Manea, L.R. Nabialek, M. Department of Technology and Automation Faculty of Mechanical Engineering and Computer Science Czestochowa University of Technology al. Armii Krajowej 19c Częstochowa42-200 Poland Department of Physics Faculty of Production Engineering and Materials Technology Czestochowa University of Technology al. Armii Krajowej 19 Częstochowa42-200 Poland Center of Excellence Geopolymer and Green Technology Universiti Malaysia Perlis Taman Muhibbah Perlis Arau02600 Malaysia Faculty of Industrial Design & Business Management "Gheorghe Asachi" Technical University of Iasi 29 D. Mangeron Blv. Iasi70005 Romania

In the process of remagnetization of magnetic materials at certain frequencies, there are losses that reduce their energy expenditure, which are referred to as total losses. These losses include hysteresis loop losses, eddy current losses, and additional losses. The factor of additional losses is very often overlooked. Its contribution to total losses is considered to be marginal. Even in the case of materials showing the minimization of total losses, such as amorphous materials, this loss factor is important and should not be neglected when studying this phenomenon. The paper presents the results of tests on remagnetization losses of a ferromagnetic amorphous alloy at frequencies from 50 to 1000 Hz. The share of additional losses was separated, and their total contribution to total core losses was determined as a percentage. © 2025 Polska Akademia Nauk. All rights reserved.

关键词： Amorphous alloys

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Improving Dendritic Neuron Model With Dynamic Scale-Free Network-Based Differential Evolution

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 99-110页

作者： Yang Yu Zhenyu Lei Yirui Wang Tengfei Zhang Chen Peng Shangce Gao College of Automation&College of Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023China Faculty of Engineering University of ToyamaToyama-shi 930-8555Japan Faculty of Electrical Engineering and Computer Science Ningbo UniversityNingbo 315211China Department of Automation School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China

Some recent research reports that a dendritic neuron model(DNM)can achieve better performance than traditional artificial neuron networks(ANNs)on classification,prediction,and other problems when its parameters are well-tuned by a learning ***,the back-propagation algorithm(BP),as a mostly used learning algorithm,intrinsically suffers from defects of slow convergence and easily dropping into local ***,more and more research adopts non-BP learning algorithms to train *** this paper,a dynamic scale-free network-based differential evolution(DSNDE)is developed by considering the demands of convergent speed and the ability to jump out of local *** performance of a DSNDE trained DNM is tested on 14 benchmark datasets and a photovoltaic power forecasting *** meta-heuristic algorithms are applied into comparison,including the champion of the 2017 IEEE Congress on Evolutionary Computation(CEC2017)benchmark competition effective butterfly optimizer with covariance matrix adapted retreat phase(EBOwithCMAR).The experimental results reveal that DSNDE achieves better performance than its peers.

关键词： Artificial neuron networks(ANNs) dendrite neuron network differential evolution(DE) scale-free network

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Research and Application of Machine Learning in Automatic Program Generation

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Chinese Journal of Electronics 2020年第6期29卷 1001-1015页

作者： ZHANG Xiaojiang JIANG Ying Yunnan Key Laboratory of Computer Technology Application Kunming University of Science and Technology Faculty of Information Engineering and Automation Kunming University of Science and Technology

With the development of artificial intelligence,machine learning has been applied in more and more *** order to improve the quality and efficiency of software,automatic program generation is becoming a research *** recent years,machine learning has also been gradually applied in automatic program *** trees,language models,and cyclic neural networks have been applied in code generation,code completion and code knowledge *** efficiency of software development has been improved to a certain extent using machine *** at the automatic program generation,this paper analyzes and summarizes the models of machine learning,the modifications involved in the models and the application *** research direction is discussed from the aspects of programmer behavior and automatic program generation of machine learning.

关键词： automatic programming data mining decision trees learning (artificial intelligence) neural nets software engineering programmer behavior cyclic neural networks language models decision trees code knowledge mining code completion code generation automatic program generation machine learning Machine learning Code generation Code completion Code knowledge mining Application effect

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