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Spatial-Temporal Graph U-Net for Skeleton-Based Human Motion Infilling

Spatial-Temporal Graph U-Net for Skeleton-Based Human Motion...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Leiyang Xu Qiang Wang Chenguang Yang Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Computer Science University of Liverpool Liverpool UK

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

Motion infilling is a fundamental and challenging research field in human motion modeling and analysis, which aims to generate natural and visually coherent transitions to fill in missing motion frames based on the start and end motion sequences. However, most current methods ignore the spatial structure formed by joints, which may lose some spatial information. This work proposes a novel spatiotemporal graph U-Net that supports flexible inputs for skeleton-based motion infilling. We apply spatiotemporal graph convolutional layers, skeleton pooling layers, and skeleton unpooling layers to extract spatial and temporal features in the motion sequence. At the same time, we use the U-Net structure to integrate the information in the start and end motion sequences. In addition, the generative adversarial mechanism is introduced to ensure the generated skeleton poses are smooth and natural. We conduct experiments on two motion datasets, including one large-scale public dataset and one self-built dataset. The model inputs are joint quaternions or joint coordinates. Experimental results show that our method can improve the performance of skeleton-based motion infilling and achieve state-of-the-art results when using joint coordinates as model input.

关键词： Analytical models Quaternions Feature extraction Skeleton Data models Spatiotemporal phenomena

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Adaptive control Using a Quaternion Wavelet Neural Network

Adaptive Control Using a Quaternion Wavelet Neural Network

引用

International Workshop on Robot Motion and control (RoMoCo)

作者： Gerardo Martínez-Terán Eduardo Bayro-Corrochano Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico Institute of Automatic Control and Robotics Poznan University of Technology

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.

关键词： Uncertainty Quaternions Neural networks Surgery Robustness Haptic interfaces Topology

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Attitude Tracking of Near-ground Quadrotor: A Switched Linear Parameter Varying Approach

Attitude Tracking of Near-ground Quadrotor: A Switched Linea...

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Chinese control and Decision Conference, CCDC

作者： Ye Liang Zefeng Lin Tianyu Gao Yifei Dong Yihang Ding Lixian Zhang College of Computer and Control Engineering Northeast Forestry University Harbin China School of Astronautics Harbin Institute of Technology Harbin China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This paper is devoted to the attitude tracking problem of a near-ground quadrotor, where the aerodynamic force of propellers is impaired under the ground effect. An altitude-dependent dynamic model for attitude control of the quadrotor is formulated with consideration of actuator dynamics, upon which an attitude tracking system for near-ground quadrotor is obtained, instead of only considering the altitude control problem via altitude-dependent total lift force in the past studies. By selecting the altitude as a scheduling variable, the attitude tracking control system is further described via a switched linear parameter varying scheme, which has not been considered before. The stability condition and the H ∞ performance are obtained, then an altitude-dependent attitude controller is designed, where the effectiveness and advantages are demonstrated via simulations.

关键词： Actuators Attitude control Propellers Force Switches Aerodynamics Stability analysis

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Smooth Switched Flight control Design of Fixed-wing Aircraft for Heavy Payload Airdrop

Smooth Switched Flight Control Design of Fixed-wing Aircraft...

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Chinese control and Decision Conference, CCDC

作者： Ye Liang Yifei Dong Yuejiang Han Tianyu Gao Yuting Ma Baoqing Yang Lixian Zhang College of Computer and Control Engineering Northeast Forestry University Harbin China School of Astronautics Harbin Institute of Technology Harbin China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This paper investigates the issue of flight control of fixed-wing aircraft (FwA) in heavy payload airdrop tasks, where smooth control commands are considered for actuators. The case that heavy payloads are mounted out of the symmetry plane is taken into account for dynamic modeling of the FwA, where the dynamic model is split into different modes corresponding to various situations of mounted payloads. Considering the dramatic variations of mass and center of gravity, a multi-equilibria switched system (MESS) is formulated for flight control, where the stable (unstable) modes correspond to the cases of symmetry (unsymmetry) mounting to ensure that the airdrop is with small rolling/yawing angles. By inserting the smooth portion, a smooth switched controller and the corresponding dwell time condition is obtained for MESS to tackle the flight control problem in heavy payload airdrop of FwA, which has not been considered before. The effectiveness and advantages of the proposed controller are demonstrated via simulations.

关键词： Switched systems Actuators Atmospheric modeling Switches control systems Stability analysis Aircraft

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PIM-ST: a New Paraphrase Identification Model Incorporating Sequence and Topic Information

PIM-ST: a New Paraphrase Identification Model Incorporating ...

引用

computer Technology and Information Science (ISCTIS), International Symposium on

作者： Kaili Mao Qingjuan Zhao Beijing Institute of Control Engineering Beijing China Computer School Beijing Information Science and Technology University Beijing Beijing China

ISBN: (数字)9798350354560

ISBN: (纸本)9798350354577

Paraphrase identification, with the objective to determine whether two sentences are paraphrases of each other, has fostered many applications including natural language inference and document retrieval. Traditional machine learning models for paraphrase identification are generally based on hand-crafted features. Recent deep neural network models generally take semantic vectors as inputs and generate classification results directly. However, existing solutions still have much room for improvement. First, existing models do not fully exploit sequence information (i.e., the order of words) and topic information, which are important for text under-standing. Second, although deep models achieve promising results, they require a large amount of labelled data and have low interpretability. To cope with these problems, we propose a new model called PIM-ST (Paraphrase Identification Model Incorporating Sequence and Topic Information). Specifically, besides semantic information, PIM-ST extracts sequence information and topic information, and adopts a simple machine learning model LightGBM as the classifier. We conduct comparative experiments and ablation studies on two public datasets Microsoft Research Paraphrase Corpus (MSRP) and Quora Question Pairs. Experimental results show that PIM-ST achieves better results than existing state-of-the-art models.

关键词： Information science Computational modeling Semantics Natural languages Machine learning Artificial neural networks Vectors Data models Object recognition Data mining

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Microcontroller-Based Intelligent control for Reaction Wheel Pendulums Using a Fuzzy Broad-Learning System

Microcontroller-Based Intelligent Control for Reaction Wheel...

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2022 International Conference on Fuzzy Theory and Its Applications, iFUZZY 2022

作者： Chen, Bo-Rui Hsu, Chun-Fei Wu, Bing-Fei Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Department of Electrical and Computer Engineering Hsinchu30010 Taiwan Tamkang University Department of Electrical Engineering New Taipei City25137 Taiwan

ISBN: (数字)9781665495875

ISBN: (纸本)9781665495875

This study presents an adaptive fuzzy broad-learning neural control (AFBNC) system applied to a reaction wheel pendulum without knowing its dynamic model. The AFBNC system uses a fuzzy broad-learning system (FBLS) to approximate an ideal controller online with keeping the reaction wheel pendulum balance. Moreover, the gradient descent method and chain rule are applied to online adjust all parameters of the FBLS with keeping the closed-loop control system stable. Finally, to implement the control algorithms and conduct experiments, a prototype of the reaction wheel pendulum is designed using a low-cost microcontroller. The experimental results demonstrate the effectiveness of the proposed AFBNC system using low-cost hardware. © 2022 IEEE.

关键词： Learning systems

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Bitroute SOME/IP: Implementation of a Scalable and Service Oriented Communication Middleware 45

Bitroute SOME/IP: Implementation of a Scalable and Service O...

引用

45th Jubilee International Convention on Information, Communication and Electronic Technology, MIPRO 2022

作者： Vujanic, M. Trifunovic, N. Kastelan, I. Kovacevic, B. University of Novi Sad Faculty of Technical Sciences Department of Computing and Control Engineering Serbia RT-RK Institute for Computer Based Systems Novi Sad Serbia

ISBN: (纸本)9789532331035

SOME/IP is a communication protocol introduced in automotive industry to enable Service Oriented Architecture which is not possible using traditional automotive protocols such as CAN or FlexRay. A trend emerging in the last years in the Advanced Driver Assistance Systems (ADAS) is that SOME/IP became one of main communication protocols used for communication between safety and performance ECU devices. Currently in the market, including the open-source solutions, there is a set of different SOME/IP implementations that have different audience and combination of characteristics like high royalty costs, available feature set and software solution maturity. This paper presents the Bitroute SOME/IP, a new implementation of the SOME/IP communication protocol with focus on performance and deployment platform independency and compares it with the open-source solution from The Connected Vehicle Systems Alliance (COVESA). © 2022 Croatian Society MIPRO.

关键词： Automotive industry

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Biomass Fuel Classification from Agricultural Residues Using Machine Learning

Biomass Fuel Classification from Agricultural Residues Using...

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IEEE Region 10 Humanitarian Technology Conference (R10-HTC)

作者： Nikhil Pachauri Himanshu Gupta Om Prakash Verma Sushil Kumar Singh Deepak Verma Ravikumar RN Department of Mechatronics Manipal Institute of Technology Manipal Academy of Higher Education Manipal India Department of Instrumentation and Control Engineering Manipal Institute of Technology Manipal Academy of Higher Education Manipal Karnataka India Department of Instrumentation and Control Engineering Dr B R Ambedkar National Institute of Technology Jalandhar Jalandhar India Department of Computer Engineering of Computer Engineering Marwadi University Rajkot Gujarat India Dept. of Computer Engineering Marwadi University Rajkot Gujarat India

ISBN: (数字)9798350340204

ISBN: (纸本)9798350340211

This work incorporates an adaptive learning-based boosting (ADboost) ML classifier to classify four types of fuel: agricultural residue, coals, wood, and produced biomass. Further, the ADboost’s hyperparameters, such as learning rate, maximum number of splits, and minimum leaf size are adjusted using teaching learning-based optimization (TLBO), resulting in TADboost. The performance of TADboost is compared against various popular ML (NN, BAG, NB, and SVM) models. Simulated result reveals that the suggested classifiers outperform other compared ML classifiers for fuel classification with the classification accuracy, precision, recall, F1-score, and kappa as 0.9659, 0.9671, 0.9449, 0.9558, and 0.9482, respectively.

关键词： Training Support vector machines Accuracy Biological system modeling Simulation Coal Linear programming Biomass Security Optimization

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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A Loop Optimization Method for Dataflow Architecture 24

A Loop Optimization Method for Dataflow Architecture

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24th IEEE International Conference on High Performance Computing and Communications, 8th IEEE International Conference on Data Science and Systems, 20th IEEE International Conference on Smart City and 8th IEEE International Conference on Dependability in Sensor, Cloud and Big Data Systems and Application, HPCC/DSS/SmartCity/DependSys 2022

作者： Fan, Zhihua Li, Wenming Liu, Tianyu Tang, Shengzhong Wang, Zhen An, Xuejun Ye, Xiaochun Fan, Dongrui State Key Lab of Processors Institute of Computing Technology Cas Beijing100049 China School of Computer and Control Engineering Ucas Beijing Beijing100190 China

ISBN: (纸本)9798350319934

Dataflow architecture is a promising parallel computing platform that provides high performance, high efficiency and flexibility. Since the execution of a loop is usually the most time-consuming in a program, extracting sufficient loop-level parallelism is an essential task of dataflow architecture. However, existing methods often result in low execution performance and poor hardware utilization due to the imbalance among dataflow graph nodes and the non-preemptive mechanism. To tackle these problems, this paper makes three contributions: 1) A highly effective dataflow graph balancing method is developed to improve the utilization. 2) An enhanced dataflow execution model is proposed, which adapts a novel preemptive mechanism to further improve the hardware utilization and performance. 3) A decoupled dataflow architecture is designed to efficiently support our proposed dataflow execution model. Experiment shows that our methods can achieve an average of 2.61 ×performance improvement and 2.5 ×utilization improvement compared to the state-of-the-art methods with acceptable overhead. © 2022 IEEE.

关键词： computer architecture

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