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7th IEEE International Conference on Cloud Computing and Intelligence systems, CCIS 2021

作者： Liu, Zirong Lai, Zhihui Gao, Can Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9781665441490

Surface defect detection has received both academic and industrial attention in recent years. In real-world applications, it is usually difficult to collect defective samples since manual labeling is time-consuming and defective samples rarely appear. In this paper, we propose a novel method for multi-scale defective sample synthesis and detection. First, a Pairs Generative Adversarial Network (PairsGAN) is proposed for generating defects and their labels. To improve the generated quality of the defective area, we design a defect discriminator in PairsGAN to focuses on distinguishing the defective area. Then, a Multi-Scale Defect Fusion (MSDF) module is presented to diversify the generated defects with various scales and styles, which fuses them into normal samples in different locations, so as to obtain naturally defective samples and corresponding labels. Finally, generated samples are used as the inputs of the semantic segmentation network for defect detection. Experimental results demonstrate that our method achieves more stable and better segmentation results comparing to recent methods. © 2021 IEEE.

关键词： Generative adversarial networks

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A Demonstrative Study on Prediction of Disease Using Bayesian Machine Learning Techniques

A Demonstrative Study on Prediction of Disease Using Bayesia...

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IEEE International Conference on System, Computation, Automation and Networking (ICSCAN)

作者： R. Dhanalakshmi N. Vijayaraghavan S. Narasimhan R Rajesh Centre for Cyber Physical Systems School. of Computer Science and Engineering Vellore Institute of Technology Chennai India Dept. of Mathematics KCG College of Technology Chennai India School. of Computer Science and Engineering Vellore Institute of Technology Chennai India

With the rapid advancement of biological information, accurate analysis of treatment data aids in early disease detection. To uncover knowledge for medical research, advanced Machine Learning algorithms are applied. Here in this research paper, to determine if a patient is affected by any Infectious disorders, we use the Naive Bayes Algorithm method.

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A Toolkit to Generate Social Navigation Datasets 21st

A Toolkit to Generate Social Navigation Datasets

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21st International Workshop of Physical Agents, WAF 2020

作者： Baghel, Rishabh Kapoor, Aditya Bachiller, Pilar Jorvekar, Ronit R. Rodriguez-Criado, Daniel Manso, Luis J. Department of Computer Science and Engineering Indian Institute of Information Technology Guwahati Guwahati India Department of Computer Science and Information Systems Birla Institute of Technology and Science Goa Pilani India Robotics and Artificial Vision Laboratory University of Extremadura Badajoz Spain Department of Computer Engineering Pune Institute of Computer Technology Pune India Department of Computer Science College of Engineering and Physical Sciences Aston University Birmingham United Kingdom

ISBN: (纸本)9783030625788

Social navigation datasets are necessary to assess social navigation algorithms and train machine learning algorithms. Most of the currently available datasets target pedestrians’ movements as a pattern to be replicated by robots. It can be argued that one of the main reasons for this to happen is that compiling datasets where real robots are manually controlled, as they would be expected to behave when moving, is a very resource-intensive task. Another aspect that is often missing in datasets is symbolic information that could be relevant, such as human activities, relationships or interactions. Unfortunately, the available datasets targeting robots and supporting symbolic information are restricted to static scenes. This paper argues that simulation can be used to gather social navigation data in an effective and cost-efficient way and presents a toolkit for this purpose. A use case studying the application of graph neural networks to create learned control policies using supervised learning is presented as an example of how it can be used. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Navigation

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Direct Data-Driven State-Feedback Control of General Nonlinear systems

Direct Data-Driven State-Feedback Control of General Nonline...

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IEEE Conference on Decision and Control

作者： Chris Verhoek Patrick J. W. Koelewijn Sofie Haesaert Roland Tóth Dept. of Electrical Engineering Control Systems group Eindhoven University of Technology The Netherlands Institute for Computer Science and Control Budapest Hungary

Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven representation of the so-called velocity-form, i.e., the time-difference dynamics, of the NL system, which is shown to admit a direct linear parameter-varying (LPV) representation. By applying the LPV extension of the Fundamental Lemma in this velocity domain, a state-feedback controller is directly synthesized to provide asymptotic stability and dissipativity of the velocity-form. By using realization theory, the synthesized controller is realized as a NL state-feedback law for the original unknown NL system with guarantees of universal shifted stability and dissipativity, i.e., stability and dissipativity w.r.t. any (forced) equilibrium point, of the closed-loop behavior. This is achieved by the use of a single sequence of data from the system and a predefined basis function set to span the scheduling map. The applicability of the results is demonstrated on a simulation example of an unbalanced disc.

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Cross Contrasting Feature Perturbation for Domain Generalization

arXiv

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arXiv 2023年

作者： Li, Chenming Zhang, Daoan Huang, Wenjian Zhang, Jianguo Research Institute of Trustworthy Autonomous Systems Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China

Domain generalization (DG) aims to learn a robust model from source domains that generalize well on unseen target domains. Recent studies focus on generating novel domain samples or features to diversify distributions complementary to source domains. Yet, these approaches can hardly deal with the restriction that the samples synthesized from various domains can cause semantic distortion. In this paper, we propose an online one-stage Cross Contrasting Feature Perturbation (CCFP) framework to simulate domain shift by generating perturbed features in the latent space while regularizing the model prediction against domain shift. Different from the previous fixed synthesizing strategy, we design modules with learnable feature perturbations and semantic consistency constraints. In contrast to prior work, our method does not use any generative-based models or domain labels. We conduct extensive experiments on a standard DomainBed benchmark with a strict evaluation protocol for a fair comparison. Comprehensive experiments show that our method outperforms the previous state-of-the-art, and quantitative analyses illustrate that our approach can alleviate the domain shift problem in out-of-distribution (OOD) scenarios. https://***/hackmebroo/CCFP Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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Bilinear-Experts Network with Self-Adaptive Sampler for Long-Tailed Visual Recognition

SSRN

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SSRN 2024年

作者： Wang, Qin Wang, Xizhao Big Data Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China

Long-tail distributed data hinders the practical application of state-of-the-art deep models in computer vision. Consequently, exclusive methodologies for handling the long-tailed problem are proposed, focusing on different hierarchies. For embedding hierarchy, existing works manually augment the diversity of tail-class features for specific datasets. However, prior knowledge about datasets is not always available for practical use, which brings unsatisfactory generalization ability in human fine-turned augmentation under such circumstances. To figure out this problem, we introduce a novel model named Bilinear-Experts Network (BENet) with Self-Adaptive Sampler (SAS). This model leverages model-driven perturbations to tail-class embeddings while preserving generalization capability on head classes through a designed bilinear experts system. The designed perturbations adaptively augment tail-class space and shift the class boundary away from the tail-class centers. Moreover, we surprisingly find that SAS automatically assigns more significant perturbations to specific tail classes rather than fewer-sample classes, which is against the common assumption that fewer-sample classes deserve greater attention. Also, experiments conducted across various long-tailed benchmarks validate the comparable efficacy of proposed BENet. © 2024, The Authors. All rights reserved.

关键词： Embeddings

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A Consumer Electronics-Enhanced UAV System for Agricultural Farm Tracking With Fuzzy SMO and Actuator Fault Detection Control Algorithms

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IEEE Transactions on Consumer Electronics 2025年

作者： Bilal, Hazrat Aslam, Muhammad Shamrooz Tian, Yibin Ullah, Inam Ayouni, Sarra Vasilakos, Athanasios V. College of Mechatronics and Control Engineering College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China China University of Mining and Technology Artificial Intelligence Research Institute Xuzhou2211106 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Gachon University Department of Computer Engineering Seongnam13120 Korea Republic of Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan Princess Nourah bint Abdulrahman University Department of Information Systems College of Computer and Information Sciences Saudi Arabia Grimstad Norway

The adoption of agricultural robots, or agrobots, has revolutionized modern farming operations, ranging from crop monitoring to automated harvesting, significantly boosting productivity. Motivated by the rapid advancements in agrobots and their integration into smart agricultural practices, this study proposes an autonomous trajectory tracking system for wheat farms using quadcopter UAVs. To address actuator fault detection, including stuck faults and partial loss of efficiency, a TSF-H∞-SMO (Takagi-Sugeno Fuzzy-based H∞ Sliding Mode Observer) fault detection framework is introduced. The approach initiates with the derivation of a TSF (Takagi-Sugeno Fuzzy) attitude control model that integrates an uncertainty term, constructed from the original nonlinear dynamics of the UAV and approximated through local linear models at four equilibrium positions. An actuator fault model is subsequently integrated to develop a comprehensive TSF-UAV model, accounting for actuator faults. The TSF-H∞-SMO is then designed using matrix coordinate transformation to enable precise fault detection. The fault detection capabilities of the TSF-H∞-SMO are evaluated through simulations on the TSF-UAV model under SISO (single-input single-output) actuator fault scenarios. The experimental results validate the proposed system, demonstrating its ability to detect a range of actuator faults accurately and promptly. The analysis reveals a proportional relationship between the amplitude of the state change and the severity of the fault, attributed to the interaction between system states and actuator flaps. This approach underscores the potential for deploying autonomous UAV-based fault detection and trajectory tracking systems in agricultural applications. Furthermore, integrating such advanced fault-tolerant control algorithms holds promise for consumer technology applications, where precision, reliability, and robustness are critical to enhancing system performance and operational efficiency. © 1

关键词： Agricultural robots

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Uncertainty-Aware Deep Learning for Segmenting Ultrasound Images of Breast Tumours

Uncertainty-Aware Deep Learning for Segmenting Ultrasound Im...

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IEEE International Conference on systems, Man and Cybernetics

作者： Afsana Ahmed Munia Ibrahim Hossain Seyed Mohammad Jalali Pegah Tabarisaadi Ashikur Rahman Saeid Nahavandi Institute for Intelligent Systems Research and Innovation Deakin University VIC Australia Dept. of Computer Science and Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh

Precise image segmentation is one of the dominant factors in disease diagnosis. A typical application is the segmentation of breast ultrasound images, allowing radiologists to suggest what to do next. After emerging deep learning technology especially convolutional neural networks (CNNs), the image segmentation model achieved state-of-the-art performance in various medical applications such as cancer detection and classification, lung node segmentation, cell segmentation and so on. However, despite these successes, a big question arises: to what extent is the model certain about the predicted result? Generally, most deep learning models focus on high accuracy but not on uncertainty of predicted results, which is not enough to make a critical real-life decision such as a disease diagnosis, where a wrong decision can be life-threatening. Hence for making a crucial decision, it is essential that the predicted result will provide not only accuracy but also estimate model uncertainty. Our contribution to this research is to build a system that predicts pixel-wise semantic segmentation and provides uncertainty estimation of the predicted results. It is achieved by adding a dropout layer during training and using Monte Carlo dropout in inference. We evaluate our model with the breast ultrasound image dataset (BUSI) and compare the results with a few other state-of-the-art methods where our method outperforms others in terms of IoU.

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Adaptive Sampling of Algal Blooms Using an Autonomous Underwater Vehicle and Satellite Imagery

Adaptive Sampling of Algal Blooms Using an Autonomous Underw...

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Control Technology and Applications (CCTA),

作者： Joana Fonseca Alexandre Rocha Miguel Aguiar Karl H. Johansson Division of Decision and Control Systems School of Electrical Engineering and Computer Science and Digital Futures KTH Royal Institute of Technology Stockholm Sweden

This paper proposes a method that uses satellite data to improve adaptive sampling missions. We find and track algal bloom fronts using an autonomous underwater vehicle (AUV) equipped with a sensor that measures the concentration of chlorophyll a. Chlorophyll a concentration indicates the presence of algal blooms. The proposed method learns the kernel parameters of a Gaussian process model using satellite images of chlorophyll a from previous days. The AUV estimates the chlorophyll a concentration online using locally collected data. The algal bloom front estimate is fed to the motion control algorithm. The performance of this method is evaluated through simulations using a real dataset of an algal bloom front in the Baltic. We consider a real-world scenario with sensor and localization noise and with a detailed AUV model.

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DPFedSAM-Meas: Comparison Of Differential Privacy Federated Learning In Medical Image Classification

DPFedSAM-Meas: Comparison Of Differential Privacy Federated ...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Shunrong Jiang Zhi Wang Zixuan He Yonggang Li Xiaofan Li Haotian Chi Xiaojiang Du School of Computer Science China University of Mining and Technology Xuzhou China Jiangsu Jingchuang Electric CO. LTD School of Automation and Software Engineering Shanxi University Taiyuan China Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ USA

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

Machine learning is widely used in medical image classification tasks. However, medical images often exhibit uneven distribution and high sensitivity to noise. A feasible solution involves using federated learning (FL) with differential privacy (DP), a distributed training method that protects patient privacy. In this work, many studies have proposed improved solutions for localized differential-private federated learning (DP-FL) frameworks. However, these studies are isolated, which would be detrimental to privacy practitioners in designing and using the algorithms. To provide a comprehensive analysis of these algorithms, we propose DPFedSAM-Meas, as a framework for comprehensive utility analysis of DP-FL. In this framework, we employed the state-of-the-art federated learning framework FedSAM. Moreover, we categorize DP algorithms into Laplace DP and Gaussian DP by the underlying DP mechanisms, and into Gradient DP and Parameter DP by the DP position in FL train. DPFedSAM-Meas allows a comparative analysis of these four DP techniques, measuring their model utility, privacy leakage, and overhead when FL uses different network structures. Finally, we evaluate DPFedSAM-Meas on datasets of Pneumonia, Blood, and Path, aiming to investigate the performance of different DP techniques on mainstream deep learning algorithms, including Convolutional Neural Networks (CNN) and Vision Transformers (ViT).

关键词： Training Privacy Differential privacy Sensitivity Pneumonia Federated learning Transformers Convolutional neural networks Biomedical imaging Image classification

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