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arXiv 2024年

作者： Angulo, Brian Gorbov, Gregory Panov, Aleksandr Yakovlev, Konstantin Moscow Institute of Physics and Technology Dolgoprudny141701 Russia Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Moscow119333 Russia AIRI Moscow123112 Russia LLC Integrant Moscow127204 Russia

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot is prohibited from moving close to the obstacles). One of the main reasons for poor performance in such setups, which is common in practice, is that the need to respect the safety constraints degrades the exploration capabilities of an RL agent. To this end, we introduce a novel learnable algorithm that is based on decomposing the initial problem into smaller sub-problems via intermediate goals, on the one hand, and respects the limit of the cumulative safety constraints, on the other hand - SPEIS(Safe Policy Exploration Improvement via Subgoals). It comprises the two coupled policies trained end-to-end: subgoal and safe. The subgoal policy is trained to generate the subgoal based on the transitions from the buffer of the safe (main) policy that helps the safe policy to reach distant goals. Simultaneously, the safe policy maximizes its rewards while attempting not to violate the limit of the cumulative safety constraints, thus providing a certain level of safety. We evaluate SPEIS in a wide range of challenging (simulated) environments that involve different types of robots in two different environments: autonomous vehicles from the POLAMP environment and car, point, doggo, and sweep from the safety-gym environment. We demonstrate that our method consistently outperforms state-of-the-art competitors and can significantly reduce the collision rate while maintaining high success rates (higher by 80% compared to the best-performing methods). Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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Differential Privacy-based Avatar Update in Cooperative Intelligent Transportation System Metaverse

Differential Privacy-based Avatar Update in Cooperative Inte...

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International Conference on computer and Communications (ICCC)

作者： Salabat Khan Fei Luo Mansoor Khan Insaf Ullah Farhan Amin Shamsher Ullah Mussadiq Abdul Rahim School of Computer and Enformation Engineering Qilu Institute of Technology Jinan China School of Computing and Information Technology Great Bay University Dongguan China School of Intelligent Manufacturing and Control Engineering Qilu Institute of Technology Jinan China Institute for Analytics and Data Science University of Essex Colchester UK School of Computer Science and Engineering Yeungnam University South Korea National Engineering Laboratory for Big Data Shenzhen University Shenzhen China King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798331507077

ISBN: (纸本)9798331507084

Metaverse is the next generation and the successor to the Internet. Various sectors allocated capital to adapt the metaverse due to its inherent importance. Cooperative Intelligent Transportation Systems (C-ITS) is one of the important sectors that can benefit from metaverse adaptation and integration. The C-ITS and metaverse integration give rise to new use cases and cyber attacks. However, traditional Pseudonym Certificate (PCert) authentication based on Vehicular Public Key Infrastructure (VPKI) cannot meet the new use cases and thwart cyber attacks. We present a Differential Privacy (DP)-based PCert and avatar update model to ensure the privacy of end-devices (e.g., vehicles) in the C-ITS metaverse. The proposed DP-based model adds noise to avatar attributes (e.g., color, behavior) to prevent avatar linkage during the PCert update process. Our method ensures that PCerts and avatars cannot be linked to end-devices and the previous PCerts and avatars. We simulate the DP-based method to investigate it in terms of privacy, latency, color distortion, and adversarial success rate, and the results show that DP-based is effective and practical for avatar updates.

关键词： Privacy Metaverse Avatars Computational modeling Authentication Public key Color Colored noise Intelligent transportation systems Cyberattack

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KKL Observer Synthesis for Nonlinear Systems via Physics-Informed Learning

arXiv

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arXiv 2025年

作者： Niazi, M.B. Umar Cao, John Barreau, Matthieu Johansson, Karl Henrik Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical Engineering Stanford University StanfordCA94305 United States

This paper proposes a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for autonomous nonlinear systems. The design of a KKL observer involves finding an injective map that transforms the system state into a higher-dimensional observer state, whose dynamics is linear and stable. The observer’s state is then mapped back to the original system coordinates via the inverse map to obtain the state estimate. However, finding this transformation and its inverse is quite challenging. We propose to sequentially approximate these maps by neural networks that are trained using physics-informed learning. We generate synthetic data for training by numerically solving the system and observer dynamics. Theoretical guarantees for the robustness of state estimation against approximation error and system uncertainties are provided. Additionally, a systematic method for optimizing observer performance through parameter selection is presented. The effectiveness of the proposed approach is demonstrated through numerical simulations on benchmark examples and its application to sensor fault detection and isolation in a network of Kuramoto oscillators using learned KKL observers. © 2025, CC BY.

关键词： State estimation

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EK-Net++: Real-time scene text detection with expand kernel distance and Epoch Adaptive Weight

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Expert Systems with Applications 2025年 267卷

作者： Zhu, Boyuan Chen, Xi Tang, Quan Chen, C.L. Philip Liu, Fagui Computer Science and Engineering South China University of Technology Guangzhou510006 China Cyberspace Security Research Center Peng Cheng Laboratory Shenzhen518066 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

Recently, scene text detection has received significant attention due to its wide applications. Accurate detection in complex scenes of multiple scales, orientations, and curvature remains a challenge. Component-based methods have emerged as the dominant approach for offering a more flexible way to achieve superior performance. However, Component-based methods employ the Vatti clipping algorithm for multi-instance training to handle the difficulty of arbitrary-shaped text. Yet we identify several bias results from these approaches called the "shrinked kernel" leading to decreased accuracy. Additionally, almost all text detection methods fail to consider the characteristics of different datasets and directly assign fixed loss weights to multi-instances. To address these limitations, we propose a new approach named Expand Kernel Network (EK-Net++), which presents the expand kernel distance map to compensate for the previous deficiency and incorporates three-stage regression to complete integral instance detection. Furthermore, we design the Epoch Adaptive Weight algorithm which dynamically distinguishes the characteristics of different datasets. EK-Net++ not only achieves precise positioning of arbitrary-shaped text but also strikes a balance between performance and speed. Evaluation results show that EK-Net++ attains state-of-the-art or competitive performance compared to other advanced methods, e.g., F-measure of 86.72% at 35.42 FPS on ICDAR 2015, F-measure of 85.83% at 40.13 FPS on CTW1500. © 2024 Elsevier Ltd

关键词： Epoch Adaptive Weight Expand kernel distance Real-time Scene text detection

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A Parallel Read-Write Circuit With Fast Amplitude-Adaptive Matching Scheme to Memristor Crossbar Array

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IEEE Transactions on Circuits and Systems I: Regular Papers 2025年

作者： Jiang, Ningye Jiang, Mingxuan Huang, Haoen Yang, Le Huang, Yi Zeng, Zhigang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430074 China Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan430205 China University of Massachusetts Amherst Department of Electrical and Computer Engineering AmherstMA01003 United States

Memristor crossbar array (MCA) is a computing-in-memory (CIM) module for computational acceleration. However, conventional read-write (R-W) circuits for MCA rely heavily on external components and have shortcoming in long writing times. To address these issues, we propose a parallel R-W circuit with a fast amplitude-adaptive matching (AAM) scheme. The fast AAM scheme is designed to accelerate time of writing memristors in MCA by adaptively adjusting the writing voltage to match an optimal amplitude. The architecture of parallel R-W circuit are outlined with the implementation of R-W processes. The design principles of parallel R-W unit, fast AAM unit, and associated control logic are described for analyzing their functions within the circuit. By integrating the parallel R-W circuit with MCA, a computing block is leveraged in a neural network for classification tasks. The experimental results demonstrate that the neural network with multiple computing blocks maintains high accuracy across various datasets (over 80%). Furthermore, the proposed AAM scheme achieves an average 54% reduction in writing time compared to that one without AAM scheme. Compared to the pulse-width scheme, the parallel R-W circuit exhibits an average 3.05× speedup in adjusting a 5×5 MCA, and the speedup efficiency is higher as the increases of MCA size. © 2025 IEEE.

关键词： Memristors

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DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Prior

arXiv

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arXiv 2025年

作者： Li, Mingrui Liu, Shuhong Deng, Tianchen Wang, Hongyu the Department of Computer Science Dalian University of Technology Dalian China the Department of Mechano-informatics Information Science and Technology The University of Tokyo Tokyo Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education China

Gaussian SLAM systems excel in real-time rendering and fine-grained reconstruction compared to NeRF-based systems. However, their reliance on extensive keyframes is impractical for deployment in real-world robotic systems, which typically operate under sparse-view conditions that can result in substantial holes in the map. To address these challenges, we introduce DenseSplat, the first SLAM system that effectively combines the advantages of NeRF and 3DGS. DenseSplat utilizes sparse keyframes and NeRF priors for initializing primitives that densely populate maps and seamlessly fill gaps. It also implements geometry-aware primitive sampling and pruning strategies to manage granularity and enhance rendering efficiency. Moreover, DenseSplat integrates loop closure and bundle adjustment, significantly enhancing frame-to-frame tracking accuracy. Extensive experiments on multiple large-scale datasets demonstrate that DenseSplat achieves superior performance in tracking and mapping compared to current state-of-the-art methods. © 2025, CC BY.

关键词： Real time systems

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Automation 5.0: The Key to Systems Intelligence and Industry 5.0

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical Engineering-Systems University of Southern CaliforniaLos AngelesCA 90007 USA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of Engineering University of CambridgeCB21TN CambridgeU.K. School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence Institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

AUTOMATION has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“Automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： Automation machinery intelligence

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Partially Occluded Face Expression Recognition with CBAM-Based Residual Network for Teaching Scene

Partially Occluded Face Expression Recognition with CBAM-Bas...

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2023 China Automation Congress, CAC 2023

作者： Bai, Yanxing Chen, Luefeng Li, Min Wu, Min Pedrycz, Witold Hirota, Kaoru School of Automation China University of Geosciences Wuhan430074 China School of Automation Ministry of Education China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Department of Computer Engineering Sariyer Istanbul34396 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

ISBN: (纸本)9798350303759

In this paper, a deep residual network based on convolutional block attention module (CBAM) is proposed, which is utilized for feature extraction of partially occluded face expression data. The proposed method overcomes the problem of localized occlusion face feature extraction by focusing on the regions and channels containing important information in the occluded face data through CBAM. Multi-task cascaded convolutional networks (MTCNN) are firstly utilized to localize the key regions of face emotion, and then deep emotion features are extracted by CBAM-ResNet network. The final emotion labels are generated. The effectiveness of this paper's method is verified on the RAF-DB dataset and the occluded CK+ dataset. The experimental accuracy in the RAF-DB dataset is 76.3%, which is 3.74% and 1.64% higher than the accuracy produced by the method of RGBT, and the WLS-RF, respectively. Application experiments are carried out in the real teaching scenario, which verifies the applicability of the algorithm in the real teaching scene. © 2023 IEEE.

关键词： Emotion Recognition

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Bi-Directional DC-DC Converter for Enhanced Power Management in Electric Vehicle Applications

Bi-Directional DC-DC Converter for Enhanced Power Management...

引用

International Conference on Computing, Engineering, and Design (ICCED)

作者： Sarah Basyouni Rawan Reda Aziza I. Hussein Mostafa Wageh Lotfy Electrical and Computer Engineering Department College of Engineering Effat University Jeddah Saudi Arabia Dept of Process Control Technology Faculty of Technology and Education Beni-Suef University Beni-Suef Egypt Ministry of Higher Education High Institute of Electronic Engineering Bilbis-Sharqiya Egypt

ISBN: (数字)9798331529376

ISBN: (纸本)9798331529383

The increasing adoption of electric vehicles (EVs) as a sustainable and efficient alternative to conventional gasoline-powered vehicles highlights the critical need for a reliable and effective charging infrastructure. This paper introduces an advanced control strategy for a power-split hybrid transmission system, which integrates a bi-directional DC-DC converter to optimize power management in hybrid and electric vehicle applications. The system architecture, incorporating a planetary gear system alongside motor and generator components, functions as a variable ratio gear, enabling smooth and efficient energy distribution. MATLAB/Simulink simulations assessed the system's performance under acceleration and regenerative braking conditions, highlighting the converter's ability to manage energy flow effectively between the battery and motor. The research investigates the differences between isolated and non-isolated DC-DC converters, highlighting the benefits of both designs in a variety of applications. Isolated converters improve safety and noise isolation; however, non-isolated systems are more compact and cost-effective. The results demonstrate the proposed system's ability to utilize electrical power exclusively during vehicle maneuvers, optimize energy efficiency, and reduce reliance on mechanical power. This research underscores the potential for advanced DC-DC converter topologies to enhance power management strategies in hybrid systems, providing valuable insights for future innovations in energy storage, power conversion, and electric vehicle technologies.

关键词： Technological innovation Gears Power system management DC-DC power converters Motors Hybrid power systems Generators Topology Safety MATLAB

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Inverse Kalman Filtering for Systems with Correlated Noises

Inverse Kalman Filtering for Systems with Correlated Noises

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IEEE Conference on Decision and control

作者： Yibei Li Xiaoming Hu Bo Wahlberg Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Mathematics Division of Optimization and Systems Theory KTH Royal Institute of Technology Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Sciencem KTH Royal Institute of Technology Sweden

This paper focuses on two inverse problems of the Kalman filter in which the process and measurement noises are correlated. The unknown covariance matrix in a stochastic system is reconstructed from observations of its posterior beliefs. For the standard inverse Kalman filtering problem, a novel duality-based formulation is proposed, where a well-defined inverse optimal control (IOC) problem is solved instead. Identifiability of the underlying model is proved, and a least squares estimator is designed that is statistically consistent. The time-invariant case using the steady-state Kalman gain is further studied. Since this inverse problem is ill-posed, a canonical class of covariance matrices is constructed, which can be uniquely identified from the dataset with asymptotic convergence. Finally, the performances of the proposed methods are illustrated by numerical examples.

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