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第40届中国控制会议

作者： Gui Yuanyuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at the problem of how to realize the reasonable distribution of goods and the resource scheduling of route planning under dynamic conditions, a phased refresh method is proposed to deal with the requirements in sections. At the same time, the clustering method is introduced to generate the initial population. And the cross and mutation rate is determined by a step-by-step reduction method, which is used to solve the problem of the traditional genetic algorithm falling into the local optimum caused by the uneven distribution of searchable solutions. Finally, the effectiveness of the improved method is verified by simulation experiments.

关键词： resource scheduling phased refresh improved genetic algorithm

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Path Tracking control of Tracked Paver Based on Improved Pure Pursuit Algorithm

Path Tracking Control of Tracked Paver Based on Improved Pur...

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第40届中国控制会议

作者： Shuai Wang Shanshan Fu Bin Li Shoukun Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation *** the paver is performing paving operations,it requires high path tracking accuracy and good vehicle ***,considering the influence of road curvature on path tracking accuracy and vehicle stability,and the situation that the vehicle can not move quickly to the expectation path when the lateral position of the vehicle deviates from the expectation path,this paper proposes a lateral path tracking control method based on improved Pure Pursuit *** control method is verified through *** experimental results show that the maximum lateral tracking error of the improved algorithm is 0.04 m,which is 55.56% lower than that of the original algorithm,and the average lateral tracking error is 0.02 m,which is60% lower than that of the original *** purpose of high-precision path tracking of the paver is realized.

关键词： Tracked paver Path tracking Road curvature Pure Pursuit algorithm

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Tracing Intricate Cues in Dialogue: Joint Graph Structure and Sentiment Dynamics for Multimodal Emotion Recognition

arXiv

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arXiv 2024年

作者： Li, Jiang Wang, Xiaoping Zeng, Zhigang The School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China The Institute of Artificial Intelligence Huazhong University of Science and Technology Wuhan430074 China The Hubei Key Laboratory of Brain-Inspired Intelligent Systems Huazhong University of Science and Technology Wuhan430074 China The Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Ministry of Education Wuhan430074 China

Multimodal emotion recognition in conversation (MERC) has garnered substantial research attention recently. Existing MERC methods face several challenges: (1) they fail to fully harness direct inter-modal cues, possibly leading to less-than-thorough cross-modal modeling;(2) they concurrently extract information from the same and different modalities at each network layer, potentially triggering conflicts from the fusion of multi-source data;(3) they lack the agility required to detect dynamic sentimental changes, perhaps resulting in inaccurate classification of utterances with abrupt sentiment shifts. To address these issues, a novel approach named GraphSmile is proposed for tracking intricate emotional cues in multimodal dialogues. GraphSmile comprises two key components, i.e., GSF and SDP modules. GSF ingeniously leverages graph structures to alternately assimilate inter-modal and intra-modal emotional dependencies layer by layer, adequately capturing cross-modal cues while effectively circumventing fusion conflicts. SDP is an auxiliary task to explicitly delineate the sentiment dynamics between utterances, promoting the model’s ability to distinguish sentimental discrepancies. Furthermore, GraphSmile is effortlessly applied to multimodal sentiment analysis in conversation (MSAC), forging a unified multimodal affective model capable of executing MERC and MSAC tasks. Empirical results on multiple benchmarks demonstrate that GraphSmile can handle complex emotional and sentimental patterns, significantly outperforming baseline models. Copyright © 2024, The Authors. All rights reserved.

关键词： Emotion Recognition

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An Adaptive Dynamic Programming Algorithm Based on ITF-OELM for Discrete-Time systems

An Adaptive Dynamic Programming Algorithm Based on ITF-OELM ...

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第33届中国控制与决策会议

作者： Xiaofei Zhang Hongbin Ma Junyong Chen Weixue Li School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Adaptive dynamic programming(ADP) is a kind of intelligent control method,and it is a non-model-based method that can directly approximate the optimal control policy via online *** gradient algorithm is usually used to update weights of action networks and critic networks,however it is clear that gradient descent-based learning methods are generally very slow due to improper learning steps or may easily converge to local *** this paper,in order to overcome those disadvantages of gradient descent-based learning methods,a novel ADP algorithm based on initial-training-free online extreme learning machine(ITF-OELM),in which the critic network link weights of hidden nodes to output nodes can be obtained by least squares instead of gradient algorithm,is ***,the ADP algorithm based on ITF-OELM is tested on a discrete time torsional pendulum system,and simulation results indicate that this algorithm makes the system converge in a shorter time compared with the ADP based on gradient algorithm.

关键词： Adaptive Dynamic Programming Extreme Learning Machine Discrete-time systems

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Multi-Batch Production Scheduling for Distributed Serial Lines with Unreliable Machines and Finite Buffers

Multi-Batch Production Scheduling for Distributed Serial Lin...

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第40届中国控制会议

作者： Longzhu Huang Zhiyang Jia Xiaohan Wang Jingchuan Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In the modern manufacturing environment, the production systems develop towards a flexible direction due to the market demands of multiple varieties and small batch-based customized products. To make better use of the existing resources and to improve production efficiency, distributed manufacturing mode begins to appear. This paper concentrates on a multi-type production scheduling problem for distributed serial lines. Specifically, unreliable machines and finite buffers are considered,which are more realistic in the practical production. The mathematical model for the production system with two Bernoulli machines is formulated first. Then, under the hypothetical model mentioned above, the main work of this article is to propose the exact and approximate analyses to calculate the performance indicators. Based on the analysis of the model, the genetic algorithm is applied to optimize the maximum completion time on the distributed serial lines for multi-batch-based production tasks. Finally, the feasibility and effectiveness of the mathematical model and the proposed algorithm are verified through numerical experiments.

关键词： Bernoulli machine intelligent manufacturing Production scheduling Transient analysis

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Speech Emotion Recognition Based on Deep Learning Network with Non-local Networks

Speech Emotion Recognition Based on Deep Learning Network wi...

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Chinese automation Congress (CAC)

作者： M.T. Han Z.T. Liu School of Automation China University of Geosciences 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

ISBN: (纸本)9781665426480

Convolutional Neural Networks (CNN) based Speech Emotion Recognition (SER) has the problem of learning bias towards stronger emotions while giving less weight to relatively faint emotions. This lack of subtleness causes the misclassification of emotions that have similar arousal such as anger and joy. To solve this problem, a novel speaker-independent SER methods consist of CNN with non-local networks and attention-based Bi-directional Long Short-Term Memory (BiLSTM) is proposed. The non-local networks can capture the dependence between any two points globally to enhance the correlation of emotional features at the utterance level. The extracted trichannel Log-Mel spectrograms features include the raw of LogMel spectrums, the Log-Mel spectrums’ deltas and delta-deltas respectively. Finally long-term contextual dependencies, local information and non-local information which is obtained by nonlocal networks is contained in the extracted feature. It was tested on the Interactive Emotional Dyadic Motion Capture Database (IEMOCAP) dataset. The experimental results show that the WAR of SER is 66.85% and the UAR of SER is 61.01%. Compared with several newly proposed SER methods, the effectiveness of the proposed model is demonstrated.

关键词： Deep learning Emotion recognition Databases Speech recognition Feature extraction Data models Convolutional neural networks

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A Multi-modal Panoramic Speaker Localization Method

A Multi-modal Panoramic Speaker Localization Method

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Chinese automation Congress (CAC)

作者： Y. Z. Long Y. W. Jian Z. T. Liu School of Automation China University of Geosciences 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

ISBN: (纸本)9781665426480

As a supporting technology in the field of human-computer interaction, speaker localization method has been a research hotspot in recent years. However, the existing single-mode speaker location methods cannot meet the requirements of stability and rapidity. For improve the accuracy and effective positioning range of speaker localization system, a multi-modal panoramic speaker localization method is proposed in this paper. Firstly, the coarse position of the speaker was preliminarily obtained by sound source localization. Then, according to the initial positioning of the speaker, whether the image used for face recognition need to be stitched is decided. What’s more, the position of speaker is calculated by face detection and calibration. Finally, the results of voice and image localization are fused by coordinate transformation. The proposal is tested on self-built experimental system, and the experimental results prove the effectiveness of the proposed method.

关键词： Location awareness Image resolution Image edge detection Face recognition Standardization Cameras Robustness

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A novel underwater image synthesis method based on a pixel-level self-supervised training strategy

A novel underwater image synthesis method based on a pixel-l...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Wu, Zhiheng Wu, Zhengxing Lu, Yue Wang, Jian Yu, Junzhi Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781665436786

With the rapid development of deep neural networks, underwater vision plays an increasingly important role in the underwater robotic operation. However, the scarce underwater datasets greatly limit the performance of deep learning on underwater visual tasks, further hindering the applications of underwater operation. To solve this problem, we propose an underwater image synthesis method, which can directly convert the natural light image into the synthetic underwater image end-to-end. Particularly, a pixel-level self-supervised training strategy is designed to maximize the structural similarity between the synthesized and real images, through training the real underwater images. Finally, extensive experiments are carried out, and the obtained results demonstrate the effectiveness and superiority of our methods by quantitative and qualitative comparisons. The proposed underwater image synthesis method offers a valuable sight for underwater vision and manipulating control. © 2021 IEEE.

关键词： Deep neural networks

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Accelerometer optimization based on real-time measurement of Hole Deviation INS with While-Drilling

Accelerometer optimization based on real-time measurement of...

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Chinese automation Congress (CAC)

作者： Yuan-Qiu Liu Fang Jin Jun-Lei Song Kai-Feng Dong Wen-Qin Mo Ya-Juan Hui School of Automation China University of Geosciences 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

ISBN: (纸本)9781665426480

Well deviation Measurement of While-Drilling(MWD) refers to the real-time measurement of well deviation and azimuth While-Drilling is the key for navigation in automatic drilling, real-time detection of drilling direction and automatic drilling control. In this paper, we solve the problem that the accelerometer could not accurately measure gravity because of the high-speed rotation caused by the eccentric installation of INS (Inertial Navigation System) and the acceleration of vibration line in the real-time measurement of borehole deviation and azimuth angle while drilling. Firstly, the dynamic physical model of accelerometer and gyroscope under eccentric installation is built, the non-gravity error of accelerometer measurement under eccentric motion is analyzed, and the algorithm optimization is made. Secondly, a calibration scheme for the compensation coefficients of centrifugal and tangential forces is given, which enables the carrier to make eccentric pure rotational motion on the rotating platform to determine the compensation calibration coefficient matrix. Finally, the first-order complementary filter algorithm is used to fuse the gyroscope angular velocity with the corrected acceleration for attitude calculation, and the algorithm is experimented. In this study, MPU6050 is selected as the chip of INS, and the attitude algorithm is realized by STM32. The experimental results show that the high dynamic error of the accelerometer measurement caused by eccentric motion is effectively reduced by the algorithm compensation.

关键词： Accelerometers Drilling Semiconductor device measurement Heuristic algorithms Measurement uncertainty Vibration measurement Real-time systems

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Parallel systems Framework: A Safe and Efficient Testbed for Unmanned Ships

Parallel Systems Framework: A Safe and Efficient Testbed for...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Long Fu Zhen Shen Xisong Dong Yunjun Han Shuguang Yang Gang Xiong Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Schoool of Rail Transportation Shandong Jiaotong University Jinan China State Key Laboratory for Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350349252

ISBN: (纸本)9798350349269

In this study, unmanned ships test platform based on the parallel systems framework is proposed to improve the test efficiency and accuracy of unmanned ships in complex ocean environment. The parallel intelligence theory and ACP approach, the efficient interaction between virtual and real environment is achieved, which provides more comprehensive and accurate data for unmanned ships testing. Future research will further expand the scope of virtual environment simulation and improve systems accuracy and response speed to a wider range of unmanned ships test requirements.

关键词： Accuracy Oceans Virtual environments Digital twins Marine vehicles Testing

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