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IEEE Conference on Decision and control

作者： Yushan Li Jianping He Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9781665436601

Networked dynamical systems (NDSs) have gained considerable attention in recent years, where the networked agents cooperate to accomplish the common task through the interaction topology. In this paper, we focus on the topology inference problem of NDSs. Different from traditional methods, we aim to infer the internal interaction topology from the perspective of node causality and correlation, covering both directed/undirected topology structures and the asymptotic/marginal stabilities of NDSs. Specifically, we propose a causality-based method that takes the noise characteristic into account and asymptotically approaches the real interaction topology structure, with only single round observations over the dynamical process. When the observation number is small, we further design a correlation-based modification to effectively alleviate the influence of noises. We demonstrate the close relation between the proposed method and the traditional Granger estimator and ordinary least square (OLS) estimator in terms of observation rounds and horizon. We further prove the equivalence conditions of the proposed method with the two estimators from the system stability and noise characteristic. The proposed causality-correlation combined method enjoys analogous asymptotic inference performance with Granger estimator of multiple observation rounds, and outperforms OLS estimator in single observation round, verified by extensive simulations.

关键词： Degradation Asymptotic stability Correlation Network topology Conferences Stability analysis Topology

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Size-invariance matters: rethinking metrics and losses for imbalanced multi-object salient object detection 24

Size-invariance matters: rethinking metrics and losses for i...

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Proceedings of the 41st International Conference on Machine Learning

作者： Feiran Li Qianqian Xu Shilong Bao Zhiyong Yang Runmin Cong Xiaochun Cao Qingming Huang Institute of Information Engineering Chinese Academy of Sciences Beijing China and School of Cyber Security University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Institute of Information Science Beijing Jiaotong University Beijing China and School of Control Science and Engineering Shandong University Jinan China and Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Cyber Science and Tech. Shenzhen Campus Sun Yat-sen University School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China and Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China and Key Laboratory of Big Data Mining and Knowledge Management Chinese Academy of Sciences Beijing China

This paper explores the size-invariance of evaluation metrics in Salient Object Detection (SOD), especially when multiple targets of diverse sizes co-exist in the same image. We observe that current metrics are size-sensitive, where larger objects are focused, and smaller ones tend to be ignored. We argue that the evaluation should be size-invariant because bias based on size is unjustified without additional semantic information. In pursuit of this, we propose a generic approach that evaluates each salient object separately and then combines the results, effectively alleviating the imbalance. We further develop an optimization framework tailored to this goal, achieving considerable improvements in detecting objects of different sizes. Theoretically, we provide evidence supporting the validity of our new metrics and present the generalization analysis of SOD. Extensive experiments demonstrate the effectiveness of our method. The code is available at https://***/Ferry-Li/SI-SOD.

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Bearing-only Formation control of Nonholonomic Agents with Unknown Dynamic Leaders

Bearing-only Formation Control of Nonholonomic Agents with U...

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Chinese Automation Congress (CAC)

作者： Haifan Su Ziwen Yang Shanying Zhu Cailian Chen Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665426480

In this paper, the problem of bearing-only formation tracking control of multiple nonholonomic agents is studied. A leader-follower structure is adopted, where the leaders are moving at an unknown constant linear velocity and time-varying orientation. To solve the problem using bearing-only measurements, a finite-time estimator is firstly proposed to estimate the leaders’ orientation information. Then, an adaptation law for estimating the leaders’ linear velocity is proposed, based on which control inputs for tracking the leaders in a predefined bearing-based formation are designed, so that formation tracking can be achieved asymptotically. Rigorous theoretical analysis of the closed-loop system is given. It is proved that both the estimation errors and formation errors converge to zero under the connectivity of the communication graph and conditions for bearing rigidity. Numerical simulations are presented to testify the effectiveness of the proposed method.

关键词： Estimation error Automation Simulation Numerical simulation Rigidity Velocity measurement Closed loop systems

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Bearing-based Formation Tracking of Nonholonomic Agents in the Leader’s Local Frame

Bearing-based Formation Tracking of Nonholonomic Agents in t...

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Chinese Automation Congress (CAC)

作者： Ke Lv Ziwen Yang Shanying Zhu Lin Wang Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (纸本)9781665426480

This paper investigates the formation tracking control problem of nonholonomic agents in the leader’s local frame, based on bearing measurements. Most of existing works on formation tracking are aimed at tracking a given formation in the global frame, which cannot meet the needs of many applications such as a fleet of cars driving on the highway. In this case, if the cars cannot keep a fixed formation in the leader’s local frame, they may drive off the highway. Thus we propose an integrated approach consisting of a bearing-based estimator and a tracking controller, to track a given formation in the leader’s local frame. In order to eliminate the estimation error in formation tracking, a persistently exciting leader is characterized by conditions. The stability of the integrated method is proved rigorously. Simulation results prove the effectiveness of the proposed approach.

关键词： Road transportation Estimation error Automation Simulation Stability analysis Robustness Trajectory

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Event-Triggered Consensus on Matrix-weighted Networks

Event-Triggered Consensus on Matrix-weighted Networks

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Chinese Automation Congress (CAC)

作者： Lulu Pan Chongzhi Wang Haibin Shao Dewei Li Yugeng Xi Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665426480

In this work, we consider the consensus problem of the multi-agent system over matrix-weighted networks using an event-triggered mechanism. An event-triggered coordination strategy is proposed to steer this generalized category of multi-agent systems towards the bipartite consensus state. The triggering condition is periodically checked and distributed in the sense that the event detector only uses neighbors’ information and local computation at discrete sampling instants. Moreover, it is shown that the triggering condition is closely related to the spectrum of matrix-valued weights corresponding to the edges in the matrix-weighted network. In the meantime, the Zeno phenomenon can be avoided automatically under the proposed event trigger approach.

关键词： Automation image edge detection Detectors Eigenvalues and eigenfunctions Multi-agent systems

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Attacking End-to-End Visual Navigation Model: How Weak Existing Learning-Based Approaches Can Be?

Attacking End-to-End Visual Navigation Model: How Weak Exist...

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IEEE International Conference on Robotics and Biomimetics

作者： Hongye Wang Kefan Jin Hesheng Wang Shanghai Jiao Tong University China MOE Key Laboratory of Marine Intelligent Equipment and System State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University China 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 Shanghai China

ISBN: (纸本)9781665405362

Learning-based self-driving techniques and vehicle navigation approaches are the most hot topics in recent years. However, existing approaches typically assume the attack-free sensor data, the safety issue under large disturbance or external attack have not been well-solved. In this article, we build a simple FGSM-based attack method designed by minimizing the maximum value of the extracted visual features in order to greatly decrease the performance of the popular learning model for vehicle navigation and even make it totally fail. The proposed min-max operation based feature space attack method solves the problems of branch activation uncertainties and the lack of labels. Furthermore, we also provide a general adversarial training framework which can be used to overcome the proposed feature space attack. Simulational experiments in CARLA platform demonstrate the effectiveness and practical applicability of our attacking approach and defence strategy.

关键词： Training Space vehicles Visualization Uncertainty Navigation Feature extraction Robustness

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A mini-review of noble-metal-free electrocatalysts for overall water splitting in non-alkaline electrolytes

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Materials Reports(Energy) 2021年第2期1卷 48-60页

作者： Jie Yu Yawen Dai Qijiao He Dongqi Zhao Zongping Shao Meng Ni Department of Building and Real Estate The Hong Kong Polytechnic UniversityHung HomKowloonHong Kong999077PR China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education MinistryHuazhong University of Science and TechnologyWuhan430074PR China State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemical EngineeringNanjing Tech UniversityNanjing210009PR China Department of Chemical Engineering Curtin UniversityPerthWestern Australia6845Australia Environmental Energy Research Group Research Institute for Sustainable Urban Development(RISUD)The Hong Kong Polytechnic UniversityHung HomKowloonHong Kong999077PR China

Development of noble-metal-free materials with remarkable electrocatalytic water-splitting performance in acidic or neutral media has sparked considerable attention in recent ***,we review the latest research on design and fabrication of precious-metal-free catalytic materials for overall water electrolysis in non-alkaline environment,especially highlighting several optimizing approaches to enhance the catalytic behavior and to realize effective bifunctional *** these involved noble-metal-free electrocatalysts are classified into transition-metal oxides(TMOs),transition-metal nitrides(TMNs),transition-metal carbides(TMCs),transition-metal phosphides(TMPs),transition-metal chalcogenides,metal complexes,and metal-free carbons,as shown in the main ***,the paper also offers an introduction of the fundamental electrochemistry of water splitting before entering the subject,as well as a prospective discussion on mechanism understanding,novel catalysts fabrication,and standardized performance measurements/evaluation in the last section.

关键词： Noble-metal-free electrocatalyst Overall water splitting Oxygen evolution reaction Hydrogen evolution reaction Non-alkaline electrolyte Bifunctional catalytic electrode

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Source-free Unsupervised Domain Adaptation for Privacy-Preserving intelligent Fault Diagnosis

Source-free Unsupervised Domain Adaptation for Privacy-Prese...

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Sensing, Measurement & Data Analytics in the era of Artificial Intelligence (ICSMD), International Conference on

作者： Mengliang Zhu Xiangyu Zeng Jie Liu Kaibo Zhou MOE Key Laboratory of Image Information Processing and Intelligent Control School of Artificial Huazhong University of Science and Technology Wuhan P. R. China School of Civil and Hydraulic Engineering Huazhong University of Science and Technology Wuhan P. R. China

Rolling bearing is of vital significance in industrial applications and intelligent fault diagnosis (IFD) have been widely exploited in this field. However, cross-machine variations hinder the model performance across different machines in varying working conditions. To solve this issue, many unsupervised domain adaptation (UDA) approaches have been proposed recently, requiring direct access to the fully labeled source domain. However, privacy concerns are raised in traditional UDA scenario, since raw signals contain various private information. To address this issue, the source-free unsupervised domain adaptation (SFUDA) scenario is considered, where only the pre-trained source model is required, instead of the fully labeled source domain. In this paper, a SFUDA approach for intelligent fault diagnosis (IFD) is proposed. It consists of two steps: 1) source model generalization, where virtual adversarial training, R-Drop and label smoothing techniques are adopted to improve the generalization ability of the source model; and 2) target model adaptation, where information maximization is used for cluster assumption and mean teacher training paradigm is utilized to alleviate the catastrophic forgetting phenomenon. The proposed approach is verified on the Case Western Reserve University (CWRU) dataset. Experimental results on the show that the proposed SFUDA approach outperforms several typical UDA approaches, and its effectiveness is verified.

关键词： Fault diagnosis Training Employee welfare Adaptation models Privacy Smoothing methods Data analysis

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Design and Implementation of Telemedicine System Using Light Fidelity and PIC16F877A Microcontroller

Design and Implementation of Telemedicine System Using Light...

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International Conference on Information Science and Technology (ICIST)

作者： M.R. Ezilarasan Man-Fai Leung Xiangguang Dai Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr. Sagunthala R&D Instituteof Science and Technology Chennai India Faculty of Science and Engineering School of Computing and Information Science Anglia Ruskin University Cambridge United Kingdom Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing Three Gorges University Wanzhou Chongqing China

ISBN: (数字)9798350353334

ISBN: (纸本)9798350353341

Medical Body Area Networks (MBANs) increasingly utilize wireless communication technologies to enhance the freedom and convenience for patients and caregivers. Currently, radio frequency (RF) is the prevalent medium in healthcare applications; however, the potential for electromagnetic interference with precision medical equipment remains a concern. This study introduces a novel design and implementation of a medical healthcare information system using the newly developed Wireless Visible Light Communication (VLC) technology, also known as Light Fidelity (Li-Fi). Visible Light Emitting Diodes (LEDs), expected to soon surpass traditional incandescent and fluorescent bulbs as the primary light source due to their energy efficiency, facilitate this technology. In this research, patient health is monitored using sensors, with results displayed on an LCD. An LED lightbulb transmits the data as light signals, which are captured by a photo-detector at the receiver's end. This setup not only displays the output on an LCD but also alerts caregivers through an auditory signal, beeping every 15 seconds for respiration and every 30 seconds for heart rate monitoring. Moreover, these lighting fixtures serve dual functions: illumination and wireless data transmission, using the rapid switching capability of LEDs. This prototype VLC-based system offers a promising alternative for data services and monitoring in hospital areas where RF use is restricted.

关键词： Wireless communication Radio frequency Wireless sensor networks Lighting Light emitting diodes Light fidelity Liquid crystal displays Communication system security Monitoring Visible light communication

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A Stronger Baseline for Ego-Centric Action Detection

arXiv

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arXiv 2021年

作者： Qing, Zhiwu Huang, Ziyuan Wang, Xiang Feng, Yutong Zhang, Shiwei Jiang, Jianwen Tang, Mingqian Gao, Changxin Ang, Marcelo H. Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology ARC National University of Singapore Tsinghua University Alibaba Group

This technical report analyzes an egocentric video action detection method we used in the 2021 EPIC-KITCHENS-100 competition hosted in CVPR2021 Workshop. The goal of our task is to locate the start time and the end time of the action in the long untrimmed video, and predict action category. We adopt sliding window strategy to generate proposals, which can better adapt to short-duration actions. In addition, we show that classification and proposals are conflict in the same network. The separation of the two tasks boost the detection performance with high efficiency. By simply employing these strategy, we achieved 16.10% performance on the test set of EPIC-KITCHENS-100 Action Detection challenge using a single model, surpassing the baseline method by 11.7% in terms of average mAP. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

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