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arXiv 2021年

作者： Li, Jie Wang, Xiao Li, Qiyue Liu, Zhi School of Computer and Information Hefei University of Technology China School of Electrical Engineering and Automation Hefei University of Technology Hefei China Department of Mathematical and Systems Engineering Shizuoka University Japan

Point cloud video has been widely used by augmented reality (AR) and virtual reality (VR) applications as it allows users to have an immersive experience of six degrees of freedom (6DoFs). Yet there is still a lack of research on quality of experience (QoE) model of point cloud video streaming, which cannot provide optimization metric for streaming systems. Besides, position and color information contained in each pixel of point cloud video, and viewport distance effect caused by 6DoFs viewing procedure make the traditional objective quality evaluation metric cannot be directly used in point cloud video streaming system. In this paper we first analyze the subjective and objective factors related to QoE model. Then an experimental system to simulate point cloud video streaming is setup and detailed subjective quality evaluation experiments are carried out. Based on collected mean opinion score (MOS) data, we propose a QoE model for point cloud video streaming. We also verify the model by actual subjective scoring, and the results show that the proposed QoE model can accurately reflect users’ visual perception. We also make the experimental database public to promote the QoE research of point cloud video streaming. Copyright © 2021, The Authors. All rights reserved.

关键词： Quality of service

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PCB Surface Defect Detection Based on TPBAS-YOLOv5

PCB Surface Defect Detection Based on TPBAS-YOLOv5

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

作者： Changyu Luo Shichao Chen Kunfeng Wang Xiangyu Hu Kaiyuan Wang Shuangshuang Han The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Electrical Engineering Sichuan University Chengdu China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing Huairou Academy of Pararllel Sensing Beijing China School of Information Science and Technology Beijing University of Chemical Technology Beijing China School of Artificial Intelligence Beijing Technology and Business University Beijing China School of Electrical Engineering Sichuan University Chengdu China School of Computer and Communication Engineering and Technology Beijing Technology Beijing Beijing China

The use of machine vision for industrial defect detection in industrial manufacturing can effectively improve the production efficiency and production quality. Due to the complex defect background, similar defects and small defect targets of printed circuit boards(PCB), the methods of using machine vision to detect PCB defects not work well. To solve these problems, this paper proposes an algorithm model TPBAS-YOLOv5, which is based on YOLOv5 and can effectively improve the accuracy and efficiency of PCB defect detection. Firstly, to improve the accuracy of the small defect detection, a transformer module is imported into the model for obtaining the information of global variables. Secondly, the P2 detection layer is added to the neck of the model layer to obtain the more feature information of the detection target, which can also improve the detection of small targets. Thirdly, to solve the problem of missing key information of detection targets , the weighted bi-directional feature pyramid network , namely BiFPN , is imported into the new network architecture, which can realize the multi-level fusion of feature information. Furthermore, an adaptive feature fusion layer ASFF is added to the model to learn the spatial weight of feature map fusion at various scales, which can achieve better trade-off efficiency for detection targets .Although the model fuses different parts, the size of the model has not changed almost. It can still work on the edge in the industrial field. Experimental results show that TPBAS-YOLOv5 can effectively improve recall rates to 96.1%, map@0.5 to 96.6% and map0.5:0.95 to 70.3% on open-source PCB dataset. Compared with YOLOv5, it increased by 0.9%, 1.6%, and 1.6%, respectively, and the FPS reached ***, it can realize the real-time detection of irregular defects and small target defects with high accuracy, and meet the reliability and real-time requirements of PCB defect detection in industrial scenarios.

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DFMC:Feature-Driven Data-Free Knowledge Distillation

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Zhang, Zherui Xu, Rongtao Wang, Changwei Xu, Wenhao Chen, Shunpeng Xu, Shibiao Xu, Guangyuan Guo, Li Beijing University of Posts and Telecommunications School of Artificial Intelligence Beijing100876 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China Qilu University of Technology Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Jinan250316 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Jinan250014 China

Data-Free Knowledge Distillation (DFKD) enables knowledge transfer from teacher networks without access to the real dataset. However, generator-based DFKD methods often suffer from insufficient diversity or low-confidence in synthetic images, negatively impacting student network performance. This paper introduces DFMC, a generative feature-driven framework to mitigate the inherent limitations of DFKD. We propose exploiting semantic description between generative feature domains to guide augmentation strategies, avoiding random abstract inputs caused by inconsistent semantic quality. Then, by applying noise to the generative features, we produce contrastive learning pairs indirectly, limiting the sampling range of the feature domain to encourage the student network to learn domain-invariant features. Finally, we guide the student network to deeply mimic the teacher’s layer-wise implicit classification behavior for the augmented synthetic images. Extensive experiments across various datasets and downstream tasks demonstrate the effectiveness of DFMC, achieving significant improvements while preventing student networks from overfitting to semantic ambiguous images. © 1991-2012 IEEE.

关键词： Knowledge transfer

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A Three-Fingered Adaptive Gripper with Multiple Grasping Modes

A Three-Fingered Adaptive Gripper with Multiple Grasping Mod...

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2021 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2021

作者： Kang, Long Yang, Yang Yang, Jian Yi, Byung-Ju Nanjing University of Science and Technology PCA Lab Key Lab. of Intelligent Percept. and Syst. for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing210094 China School of Automation Nanjing University of Information Science and Technology Nanjing210044 China Department of the Electronic Systems Engineering Hanyang University Ansan426-791 Korea Republic of

ISBN: (纸本)9781665417143

This paper presents an underactuated robotic gripper that consists of three fingers. This gripper is driven by seven actuators and capable of grasping a wide range of objects in different working scenarios. A combination of a four-bar mechanism and parallelograms ensures that each finger can provide the basic pinch grasp and power grasp. Detailed fingertip grasping force analysis shows the large payload of this gripper. To fulfill multiple challenging grasping tasks, the fingertip orientation of each finger was designed to be decoupled from the finger flexion motion. Particular emphasis is placed on the environmental contact-based grasp and active transition from the pinch grasp to the power grasp. Detailed analysis shows that the contact-based fingertip grasp could be used to grasp thin objects lying on a flat surface with widths less than 168 mm safely and stably. To prevent over-squeezing of the grasped object in the active transition, the fingertip orientation and finger flexion motion were controlled coordinately. Moreover, a combination of the contact-based grasp and the direct power grasp was also allowed to grasp objects lying on a flat surface and having smooth surfaces robustly. Experimental results demonstrate the effectiveness of the proposed gripper in real-world applications. © 2021 IEEE.

关键词： Grippers

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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Dual Prototypes Contrastive Learning for Semi-Supervised Medical Image Segmentation

SSRN

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SSRN 2024年

作者： Yue, Tianai Xu, Rongtao Wu, Jingqian Yang, Wenjie Du, Shide Wang, Changwei Johns Hopkins University Baltimore21218 United States State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The University of Hong Kong Hong Kong999077 Hong Kong College of Computer and Big Data Fuzhou University Fuzhou350108 China Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Qilu University of Technology Shandong Academy of Sciences Jinan250014 China Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Fundamental Research Center for Computer Science Jinan250014 China

Semi-supervised techniques for medical image segmentation have demonstrated potential, effectively training models using scarce labeled data alongside a wealth of unlabeled data. Therefore, semi-supervised medical image segmentation is one of the key issues in engineering applications of medical artificial intelligence. Consistency constraints based on prototype alignment provide an intuitively sensible way to discover valuable insights from unlabeled data that can motivate segmentation performance. In this work, we propose a dual prototypes contrastive network (DPC-Net) to motivate semi-supervised medical segmentation accuracy by imposing image-level global prototype constraints and pixel-level local prototype constraints. First, we introduce a Background-Separation Global Prototype Contrastive Learning technique that utilizes the natural mutual exclusivity of foreground and background to separate the inter-class distances and encourage the segmentation network to obtain segmentation results that are more complete and do not contain background regions. Second, we design a Cross-Consistent Local Prototype Contrastive Learning techniques to extend the perturbation consistency of the two networks to the prototype's localized response to the feature map, thereby shaping a more stable intra-class prototype space and producing accurate and robust pixel-level predictions. Finally, we comprehensively evaluate our method on mainstream semi-supervised medical image segmentation benchmarks and settings, and experimental results show that our DPC-Net outperforms current state-of-the-art methods. © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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RumorLens: Interactive Analysis and Validation of Suspected Rumors on Social Media

arXiv

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arXiv 2022年

作者： Wang, Ran Zhao, Yifei Wang, Shipan Du, Kehan Tang, Mojie Li, Yiyao Chen, Qianhe Tao, Hongxi Wang, Yong School of Journalism and Information Communication Huazhong University of Science and Technology China School of Artificial Intelligence and Automation Huazhong University of Science and Technology China School of Computer Science United Kingdom University of Bristol United Kingdom School of Architecture and Urban Planning Huazhong University of Science and Technology China School of Computer Science and Technology Huazhong University of Science and Technology China Computer Science Department University College London United Kingdom School of Computing and Information Systems Singapore Management University Singapore

With the development of social media, various rumors can be easily spread on the Internet and such rumors can have serious negative effects on society. Thus, it has become a critical task for social media platforms to deal with suspected rumors. However, due to the lack of effective tools, it is often difficult for platform administrators to analyze and validate rumors from a large volume of information on a social media platform efficiently. We have worked closely with social media platform administrators for four months to summarize their requirements of identifying and analyzing rumors, and further proposed an interactive visual analytics system, RumorLens, to help them deal with the rumor efficiently and gain an in-depth understanding of the patterns of rumor spreading. RumorLens integrates natural language processing (NLP) and other data processing techniques with visualization techniques to facilitate interactive analysis and validation of suspected rumors. We propose well-coordinated visualizations to provide users with three levels of details of suspected rumors: an overview displays both spatial distribution and temporal evolution of suspected rumors;a projection view leverages a metaphor-based glyph to represent each suspected rumor and further enable users to gain a quick understanding of their overall characteristics and similarity with each other;a propagation view visualizes the dynamic spreading details of a suspected rumor with a novel circular visualization design, and facilitates interactive analysis and validation of rumors in a compact manner. By using a real-world dataset collected from Sina Weibo, one case study with a domain expert is conducted to evaluate RumorLens. The results demonstrated the usefulness and effectiveness of our approach. Copyright © 2022, The Authors. All rights reserved.

关键词： Social networking (online)

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A comprehensive survey of oracle character recognition: challenges, benchmarks, and beyond

arXiv

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arXiv 2024年

作者： Li, Jing Chi, Xueke Wang, Qiufeng Huang, Kaizhu Wang, Da-Han Liu, Yongge Liu, Cheng-Lin College of Science & Technology Ningbo University Ningbo China School of Advanced Technology Xi’an Jiaotong-Liverpool University Suzhou China Duke Kunshan University Suzhou China Fujian Key Laboratory of Pattern Recognition and Image Understanding School of Computer and Information Engineering Xiamen University of Technology Xiamen China Anyang Normal University Anyang China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China

Oracle character recognition—an analysis of ancient Chinese inscriptions found on oracle bones—has become a pivotal field intersecting archaeology, paleography, and historical cultural studies. Traditional methods of oracle character recognition have relied heavily on manual interpretation by experts, which is not only labor-intensive but also limits broader accessibility to the general public. With recent breakthroughs in pattern recognition and deep learning, there is a growing movement towards the automation of oracle character recognition (OrCR), showing considerable promise in tackling the challenges inherent to these ancient scripts. However, a comprehensive understanding of OrCR still remains elusive. Therefore, this paper presents a systematic and structured survey of the current landscape of OrCR research. We commence by identifying and analyzing the key challenges of OrCR. Then, we provide an overview of the primary benchmark datasets and digital resources available for OrCR. A review of contemporary research methodologies follows, in which their respective efficacies, limitations, and applicability to the complex nature of oracle characters are critically highlighted and examined. Additionally, our review extends to ancillary tasks associated with OrCR across diverse disciplines, providing a broad-spectrum analysis of its applications. We conclude with a forward-looking perspective, proposing potential avenues for future investigations that could yield significant advancements in the field. Copyright © 2024, The Authors. All rights reserved.

关键词： Deep learning

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A Pricing Rule for Third-Party Platoon Coordination Service Provider

A Pricing Rule for Third-Party Platoon Coordination Service ...

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Asian Control Conference

作者： Ting Bai Alexander Johansson Shaoyuan Li Karl Henrik Johansson Jonas Må rtensson Integrated Transport Research Lab Digital Futures and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future.

关键词： Roads Pricing Predictive control

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Reduced Network Cumulative Constraint Violation for Distributed Bandit Convex Optimization under Slater’s Condition

arXiv

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arXiv 2024年

作者： Zhang, Kunpeng Yi, Xinlei Ding, Jinliang Cao, Ming Johansson, Karl H. Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201800 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper studies the distributed bandit convex optimization problem with time-varying inequality constraints, where the goal is to minimize network regret and cumulative constraint violation. To calculate network cumulative constraint violation, existing distributed bandit online algorithms solving this problem directly use the clipped constraint function to replace its original constraint function. However, the use of the clipping operation renders Slater’s condition (i.e, there exists a point that strictly satisfies the inequality constraints at all iterations) ineffective to achieve reduced network cumulative constraint violation. To tackle this challenge, we propose a new distributed bandit online primal–dual algorithm. If local loss functions are convex, we show that the proposed algorithm establishes an O(T max{c,1−c})network regret bound and an O(T 1−c/2) network cumulative constraint violation bound, where T is the total number of iterations and c ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds, the network cumulative constraint violation bound is reduced to O(T 1−c). In addition, if local loss functions are strongly convex, for the case where strongly convex parameters are unknown, the network regret bound is reduced to O(T1−c), and the network cumulative constraint violation bound is O(T1−c/2) and O(T1−c) without and with Slater’s condition, respectively. For the case where strongly convex parameters are known, the network regret bound is further reduced to O)(log(T)), and the network cumulative constraint violation bound is reduced to O(log(T)T) and O(log(T)) without and with Slater’s condition, respectively. To the best of our knowledge, this paper is among the first to establish reduced (network) cumulative constraint violation bounds for (distributed) bandit convex optimization with time-varying constraints under Slater’s condition. Finally, a numerical example is provided to verify the theoretical results. Copyright © 2

关键词： Convex optimization

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