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International Conference on Information Fusion

作者： Christian Kinzig Irene Corté s Carlos Ferná ndez Martin Lauer Institute of Measurement and Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Department of Computer Science and Engineering Universidad Carlos III de Madrid (UC3M) Madrid Spain

ISBN: (数字)9781737749721

ISBN: (纸本)9781665489416

Autonomous vehicles depend on an accurate perception of their surroundings. For this purpose, different approaches are used to detect traffic participants such as cars, cyclists, and pedestrians, as well as static objects. A commonly used method is object detection and classification in camera images. However, due to the limited field of view of camera images, detecting in the entire environment of the ego-vehicle is an additional challenge. Some solutions include the use of catadioptric cameras or clustered surround view camera systems that require a large installation height. In multi-camera setups, an additional step is required to merge objects from overlapping areas between cameras. As an alternative to these systems, we present a real-time capable image stitching method to improve the horizontal field of view for object detection in autonomous driving. To do this, we use a spherical camera model and determine the overlapping area of the neighboring images based on the calibration. Furthermore, lidar measurements are used to improve image alignment. Finally, seam carving is applied to optimize the transition between the images. We tested our approach on a modular redundant sensor platform and on the publicly available nuScenes dataset. In addition to qualitative results, we evaluated the stitched images using an object detection network. Moreover, the real-time capability of our image stitching method is shown in a runtime analysis.

关键词： Runtime Laser radar Pipelines Merging Object detection Cameras Real-time systems

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Context-aware Emotion Recognition Based on Vision-Language Pre-trained Model

Context-aware Emotion Recognition Based on Vision-Language P...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： XingLin Li Xinde Li Chuanfei Hu Huaping Liu School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China Nanjing Center for Applied Mathematics Nanjing China Southeast University Shenzhen Research Institute Shenzhen China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Given the difficulty of recognizing ambiguous emotions in facial expression recognition tasks, we propose a visual-language model named CAER-CLIP to address this challenge. The proposed CAER-CLIP standed for Context-Aware Emotion Recognition (CAER), and were incorporated structure of the Contrastive Language–Image Pre-training (CLIP) model as promising alternative to classifier. There are two parts in CAER-CLIP model. In the visual part, facial expressions and contextual information of the image are simultaneously extracted to obtain the final feature embeddings, which are then used as a learnable “class” token for text-image pairing with desired module. In the textual part, we use text labels for emotion recognition classes as input. The outputs were merged to participate the comparative study to generated parameters of the model. The experiments demonstrate the effectiveness of the proposed method and show that our CAER-CLIP outperforms the state-of-the-art results on the CAER benchmark. The ablation experiment verified the effectiveness of both the classifier-based and text-based (ours without classifier) models, demonstrating that our method with the CAER-CLIP structure performed better, and the incorporation of a text encoder in the deep network model architecture effectively enhancing recognition accuracy.

关键词： Training Emotion recognition Visualization Accuracy Text recognition Face recognition Benchmark testing Feature extraction Data mining Context modeling

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Active Simultaneously Transmitting and Reflecting Surface Assisted NOMA Networks

arXiv

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arXiv 2024年

作者： Yue, Xinwei Xie, Jin Ouyang, Chongjun Liu, Yuanwei Shen, Xia Ding, Zhiguo The Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing100101 China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China The School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom Beijing100191 China The Department of Electrical Engineering and Computer Science Khalifa University Abu Dhabi United Arab Emirates Department of Electrical Engineering Princeton University Princeton United States

The novel active simultaneously transmitting and reflecting surface (ASTARS) has recently received a lot of attention due to its capability to conquer the multiplicative fading loss and achieve full-space smart radio environments. This paper introduces the ASTARS to assist non-orthogonal multiple access (NOMA) communications, where the stochastic geometry theory is used to model the spatial positions of pairing users. We design the independent reflection/transmission phase-shift controllers of ASTARS to align the phases of cascaded channels at pairing users. We derive new closed-form and asymptotic expressions of the outage probability and ergodic data rate for ASTARS-NOMA networks in the presence of perfect/imperfect successive interference cancellation (pSIC). The diversity orders and multiplexing gains for ASTARS-NOMA are derived to provide more insights. Furthermore, the system throughputs of ASTARS-NOMA are investigated in both delay-tolerant and delay-limited transmission modes. The numerical results are presented and show that: 1) ASTARS-NOMA with pSIC outperforms ASTARS assisted-orthogonal multiple access (ASTARS-OMA) in terms of outage probability and ergodic data rate;2) The outage probability of ASTARS-NOMA can be further reduced within a certain range by increasing the power amplification factors;3) The system throughputs of ASTARS-NOMA are superior to that of ASTARS-OMA in both delay-limited and delay-tolerant transmission modes. Copyright © 2024, The Authors. All rights reserved.

关键词： Stochastic systems

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Trajectory tracking of 4-DOF assembly robot based on quantification factor and proportionality factor self-tuning fuzzy PID control

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International Journal of Wireless and Mobile Computing 2020年第4期18卷 361-370页

作者： Li, Cuiqiao Sun, Ying Li, Gongfa Jiang, Du Zhao, Haoyi Jiang, Guozhang Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan Hubei China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan Hubei China Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Institute of Precision Manufacturing Wuhan University of Science and Technology Wuhan China Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Institute of Precision Manufacturing Wuhan University of Science and Technology Wuhan Hubei China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan Hubei China Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan Hubei China

When the manipulator performs the assembling task, the performance of the system is easily affected by external interference and parameter changes, resulting in slow tracking response speed and low tracking accuracy. In order to improve the stability and robustness of the controller, a self-tuning fuzzy PID controller with quantification factor and proportionality factor is designed based on the fuzzy PID control. The parameters of the PID controller are dynamically fine-tuned by the fuzzy controller 1, and the quantification factor and proportionality factor are adjusted online by the modifying fuzzy controller 2 to fine-tune the parameters of PID controller. The control effect and robustness of the improved fuzzy PID controller to the manipulator system are simulated and verified on the MATLAB/Simulink platform. The simulation results show that the proposed method significantly improves the transient response speed, tracking accuracy and follower characteristics of the system, and has good dynamic performance. Copyright © 2020 Inderscience Enterprises Ltd.

关键词： Manipulators

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A Lightweight Object Detection Network for Industrial Robot Based YOLOv5

A Lightweight Object Detection Network for Industrial Robot ...

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Chinese Automation Congress (CAC)

作者： Tao Zhong Yahui Gan Zao Han Huan Gao Ang Li Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Automation Southeast University Ministry of Education NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China

With the rapid development of deep learning, it has been widely applied in fields such as computer vision, natural language processing, and robotics. Despite the superior performance of deep learning in object detection, most industrial vision robots still rely on traditional object detection methods due to computational constraints of robot controllers. In order to improve the performance of object detection for vision robots, a lightweight 3D object detection network based on You Only Look Once version 5 (YOLOv5) is proposed for satisfying industrial production. YOLOv5 work to efficiently object detection using deep convolutional networks. In terms of model deployment, we adopt a novel OpenVINO-based model deployment approach. The OpenVINO framework significantly enhances the inference speed of models by model optimization and compression. Our model achieves a 70% reduction in inference time compared to the baseline model on CPU. The effectiveness of the proposed method is demonstrated through experiments.

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Cyanometallate Framework Templated Synthesis of Hierarchically Porous La(Oh)3 for High-Efficient and Stable Phosphorus Removal from Tailwater

SSRN

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SSRN 2023年

作者： Jing, Xiaoxu Zhang, Jing Li, Yungui Li, Qingqing Shen, Yi Zhang, Suorong Fang, Qile Advanced Institute of Natural Sciences Beijing Normal University Zhuhai519087 China Sichuan Provincial Sci-Tech Cooperation Base of Low-cost Wastewater Treatment Technology Department of Environmental Engineering Southwest University of Science and Technology Mianyang621010 China Key Laboratory of Microbial Technology for Industrial Pollution Control of Zhejiang Province College of Environment Zhejiang University of Technology Hangzhou310032 China Chongqing Feiyang Measurement and Control Technology Research Institute Co. Ltd Chongqing402760 China

Lanthanum (La)-based hydroxides have been recognized as promising candidates for dephosphorization due to their high affinity and selectivity for phosphate adsorption. However, the development of porous La(OH)3 materials with enriching active sites and high structural stability remains a challenge in tailwater treatment. Here we developed a novel self-templating method based on an ion-exchange mechanism to construct hierarchically porous La(OH)3, where the OH− of an alkali conversion reagent replaces the [Fe(CN)6]4− cluster within the LaFe cyanometalate (CM) precursor, simultaneously completing the hydroxide conversion and pore-creating processes. The obtained hierarchically porous La(OH)3 shows excellent structural stability with no ion leaching and can maintain its primary microsphere structure and secondary nanoneedle morphology after multiple cycles of application. Due to the abundant micropores/mesopores, there are fully exposed active sites inside and outside the porous La(OH)3 microsphere, giving it an excellent phosphate adsorption capacity (maximum capacity of 163.6 mg P/g). Its high selectivity and environmental adaptability make it a favorable adsorbent for aquaculture tailwater treatment that can rapidly reduce the dissolved inorganic phosphorus level to below 0.05 mg P/L to meet the mariculture tailwater discharge standard in a wide range of salinities and temperatures. The information gleaned in this study provides valuable guidance for the materials design of porous La-based hydroxides for phosphorus removal. © 2023, The Authors. All rights reserved.

关键词： Aquaculture

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Smart palm-size optofluidic hematology analyzer for automated imaging-based leukocyte concentration detection

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Opto-Electronic Science 2023年第12期2卷 1-8页

作者： Deer Su Xiangyu Li Weida Gao Qiuhua Wei Haoyu Li Changliang Guo Weisong Zhao Innovation Photonics and Imaging Center School of Instrumentation Science and EngineeringHarbin Institute of TechnologyHarbin 150080China Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150081China Department of Neurosurgery The Second Affiliated Hospital of Harbin Medical UniversityHarbin 150086China Institute of Optical Measurement and Intellectualization Harbin Institute of TechnologyHarbin 150080China Beijing Institute of Collaborative Innovation Beijing 100094China State Key Laboratory of Membrane Biology Beijing Key Laboratory of Cardiometabolic Molecular MedicineInstitute of Molecular MedicineNational Biomedical Imaging CenterSchool of Future TechnologyPeking UniversityBeijing 100871China

A critical function of flow cytometry is to count the concentration of blood cells,which helps in the diagnosis of certain ***,the bulky nature of commercial flow cytometers makes such tests only available in hospitals or laboratories,hindering the spread of point-of-care testing(POCT),especially in underdeveloped ***,we propose a smart Palm-size Optofluidic Hematology Analyzer based on a miniature fluorescence microscope and a microfluidic platform to lighten the device to improve its *** gadget has a dimension of 35×30×80 mm and a mass of 39 g,less than 5%of the weight of commercially available flow ***,automatic leukocyte concentration detection has been realized through the integration of image processing and leukocyte counting *** compared the leukocyte concentration measurement between our approach and a hemocytometer using the Passing-Bablok analysis and achieved a correlation coefficient of *** Bland-Altman analysis,we obtained the relationship between their differences and mean measurement values and established 95%limits of agreement,ranging from−0.93×10^(3)to 0.94×10^(3)cells/μ*** anticipate that this device can be used widely for monitoring and treating diseases such as HIV and tumors beyond hospitals.

关键词： hematology analyzer miniature fluorescence microscope microfluidics leukocyte concentration

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Heptagonal core anti-resonant hollow-core fiber for laser beam mode shapers

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Chinese Optics Letters 2025年第4期 54-60页

作者：王洋张小贝陈伟张琦杨勇李茂春颜苗王廷云 Key Laboratory of Specialty Fiber Optics and Optical Access Networks' Joint International Research Laboratory of Specialty Fiber Optics and Advanced Communication' Shanghai Institute for Advanced Communication and Data Science School of Communication and Information EngineeringShanghai University Laboratory of Science and Technology on Marine Navigation and Control' China State Shipbuilding Corporation

We report a novel anti-resonant hollow-core fiber（ARF） with a heptagonal core surrounded by connected cladding tubes,which is employed as a laser beam mode shaper. Cladding nodes are formed between each pair of adjacent cladding tubes,which efficiently enhances the mode coupling, thus significantly suppressing higher-order modes（HOMs） within a short fiber length. Numerical investigation and simulation for variations in the curvature of each node are conducted, through which an optimized structure of cladding nodes is obtained. Experimental results demonstrate that for a 1-m-long ARFbased mode shaper, the output beam quality M2is enabled, and the near-diffraction-limit beam quality is 1.03. The ARF presents a maximum average transmission power of 600 mW, achieving a total coupling efficiency of approximately85%. Moreover, it is maintained for one hour without inducing any damage while maintaining beam quality. These results highlight the great potential of the mode shaper in applications such as laser surgery, precision welding, and laser writing.

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ASTARS Aided NOMA Covert communication Networks

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IEEE Transactions on Vehicular technology 2025年

作者： Yue, Xinwei Song, Xinlong Zhao, Jingjing Huang, Chongwen Jin, Hongxu Xiang, Wei Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing102206 China Beijing Information Science and Technology University Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing102206 China Beihang University School of Electronic and Information Engineering Beijing100191 China Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Xidian University State Key Laboratory of Integrated Service Networks Xi'an710071 China Hangzhou310027 China Zunyi Normal University School of Information Engineering Zunyi563006 China La Trobe University School of Computing Engineering and Mathmatical Sciences MelbourneVIC3086 Australia

The active simultaneously transmitting and reflecting surface (STARS) has been proposed as a complement of passive STARS (PSTARS) to inhibit the double path-loss. This paper applies the active STARS (ASTARS) to aid in non-orthogonal multiple access (NOMA) covert communications over cascaded rice fading channels, where two wardens are located on the opposite sides of ASTARS to monitor the transmission information. More specifically, we derive approximate expressions for detection error probability of two wardens. The optimal detection threshold and minimum detection error probability are presented in the worst covert scenarios. The covert transmission rate expressions for a coupe of covert users are further deduced by taking into account imperfect/perfect successive interference cancellation. The experimental simulation results are presented to confirm that: 1) The detection error probability of ASTARS-NOMA networks is superior to that of ASTARS assisted-orthogonal multiple access (ASTARS-OMA) and PSTARS aided NOMA networks;2) As the number of active elements increases, the covert transmission rates of ASTARS-NOMA networks become larger relative to ASTARS-OMA;and 3) ASTARS-NOMA has ability to provide the enhanced system throughput in delay-tolerant transmission mode. © 2025 IEEE.

关键词： Fading channels

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Subgraph Networks Based Contrastive Learning

arXiv

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arXiv 2023年

作者： Wang, Jinhuan Shao, Jiafei Wang, Zeyu Yu, Shanqing Xuan, Qi Yang, Xiaoniu The Institute of Cyberspace Security College of Information Engineering Zhejiang University of Technology Hangzhou310023 China The PCL Research Center of Networks and Communications Peng Cheng Laboratory Shenzhen518000 China The Institute of Cyberspace Security Zhejiang University of Technology Hangzhou310023 China The Science and Technology on Communication Information Security Control Laboratory Jiaxing314033 China

Graph contrastive learning (GCL), as a self-supervised learning method, can solve the problem of annotated data scarcity. It mines explicit features in unannotated graphs to generate favorable graph representations for downstream tasks. Most existing GCL methods focus on the design of graph augmentation strategies and mutual information estimation operations. Graph augmentation produces augmented views by graph perturbations. These views preserve a locally similar structure and exploit explicit features. However, these methods have not considered the interaction existing in subgraphs. To explore the impact of substructure interactions on graph representations, we propose a novel framework called subgraph network-based contrastive learning (SGNCL). SGNCL applies a subgraph network generation strategy to produce augmented views. This strategy converts the original graph into an Edge-to-Node mapping network with both topological and attribute features. The single-shot augmented view is a first-order subgraph network that mines the interaction between nodes, node-edge, and edges. In addition, we also investigate the impact of the second-order subgraph augmentation on mining graph structure interactions, and further, propose a contrastive objective that fuses the first-order and second-order subgraph information. We compare SGNCL with classical and state-of-the-art graph contrastive learning methods on multiple benchmark datasets of different domains. Extensive experiments show that SGNCL achieves competitive or better performance (top three) on all datasets in unsupervised learning settings. Furthermore, SGNCL achieves the best average gain of 6.9% in transfer learning compared to the best method. Finally, experiments also demonstrate that mining substructure interactions have positive implications for graph contrastive learning. Copyright © 2023, The Authors. All rights reserved.

关键词： Learning systems

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