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HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

Chinese Journal of Electronics 2023年第1期32卷 189-198页

作者： GUAN Qi SHENG Zihao XUE Shibei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

Real-time six degrees-of-freedom(6D)object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely high-resolution 6D pose estimation network(HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.

关键词： Knowledge engineering Computational modeling Pose estimation Grasping Benchmark testing Feature extraction Real-time systems

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Second-Order Sliding Mode Design Based on the Integration of Proportional-Integral and Nonlinear controllers for Load Frequency control 31

Second-Order Sliding Mode Design Based on the Integration of...

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31st International Conference on Electrical Engineering, ICEE 2023

作者： Samari, Behrad Yazdanpanah, Mohammad Javad University of Tehran Department of Electrical Engineering Tehran Iran School of Ece University of Tehran Control & Intelligent Processing Center of Excellence Tehran Iran

ISBN: (纸本)9798350312560

This article addresses the load frequency control (LFC) problem of control-area-partitioned power networks. An equivalent generator with second-order turbine-governor dynamics is utilized to model each control area, and power flows establish nonlinear couplings between control areas. As a consequence of the integration of the proportional-integral (PI) controller and the nonlinear controller, a novel suitable sliding manifold for enhancing dynamic performance is first proposed. Then, a decentralized second-order sliding mode (SOSM) controller is designed for LFC in power networks, which regulates the frequency and sustains the net inter-area power flows at the predetermined values. The simulation results demonstrate the efficacy of the proposed control strategy. © 2023 IEEE.

关键词： Decentralized control

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Cognitive Navigation for intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Hedge-Embedded Linguistic Fuzzy Neural Networks for Systems Identification and control

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第10期5卷 4928-4937页

作者： Rafiei, Hamed Akbarzadeh-T, Mohammad-R Ferdowsi University of Mashhad Department of Electrical Engineering Center of Excellence on Soft Computing and Intelligent Information Processing Mashhad*** Iran Chalmers University of Technology Department of Electrical Engineering Center for Bionics and Pain Research Mölndal Gothenburg412 96 Sweden

In the realm of natural language processing, hedge-embedded structures have contributed considerably by appreciating linguistic variables and distinguishing overlapped classes. This aspect of natural languages considerably affects the building of linguistically interpretable architectures for fuzzy neural networks (FNNs). Here, we propose extending the idea of hedge-embedded linguistic fuzzy neural networks (LiFNNs) to the systems identification and control paradigm. This perspective leads us to the universal approximation property for this mathematical construct using the Stone–Weierstrass theorem and the proof of stability for the resulting nonlinear system identification process using the Lyapunov function. Furthermore, the power activation functions in the membership degrees of the proposed network enable linguistic hedge interpretation and more precise learning. Finally, the proposed LiFNN, optimized using a backpropagation learning algorithm, is evaluated on several problems in function approximation (periodic functions and quadratic Hermite function), system identification (a nonlinear system), and direct adaptive control fields. Results show that memberships are more distinguishable in the proposed LiFNN, leading to ∼50% less error on the average and higher granulation and interpretability. © 2020 IEEE.

关键词： Linguistics

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Preserving Topology of Network Systems: Metric, Analysis, and Optimal Design

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IEEE Transactions on Automatic control 2024年第6期70卷 3540-3555页

作者： Li, Yushan Wang, Zitong He, Jianping Chen, Cailian Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Preserving the topology from being inferred by external adversaries has become a paramount security issue for network systems (NSs), and adding random noises to the nodal states provides a promising way. Nevertheless, recent works have revealed that the topology cannot be preserved under i.i.d. noises in the asymptotic sense. How to effectively characterize the non-asymptotic preservation performance still remains an open issue. Inspired by the deviation quantification of concentration inequalities, this paper proposes a novel metric named trace-based variance-expectation ratio. This metric effectively captures the decaying rate of the topology inference error, where a slower rate indicates better non-asymptotic preservation performance. We prove that the inference error will always decay to zero asymptotically, as long as the added noises are non-increasing and independent (milder than the i.i.d. condition). Then, the optimal noise design that produces the slowest decaying rate for the error is obtained. More importantly, we amend the noise design by introducing one-lag time dependence, achieving the zero state deviation and the non-zero topology inference error in the asymptotic sense simultaneously. Extensions to a general class of noises with multi-lag time dependence are provided. Comprehensive simulations verify the theoretical findings. © 1963-2012 IEEE.

关键词： Network topology

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Recursive Least Squares Identification With Variable-Direction Forgetting via Oblique Projection Decomposition

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 547-555页

作者： Kun Zhu Chengpu Yu Yiming Wan Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Beijing Institute of Technology Chongqing Innovation Center

In this paper,a new recursive least squares(RLS)identification algorithm with variable-direction forgetting(VDF)is proposed for multi-output *** objective is to enhance parameter estimation performance under non-persistent *** proposed algorithm performs oblique projection decomposition of the information matrix,such that forgetting is applied only to directions where new information is *** proofs show that even without persistent excitation,the information matrix remains lower and upper bounded,and the estimation error variance converges to be within a finite ***,detailed analysis is made to compare with a recently reported VDF algorithm that exploits eigenvalue decomposition(VDF-ED).It is revealed that under non-persistent excitation,part of the forgotten subspace in the VDF-ED algorithm could discount old information without receiving new data,which could produce a more ill-conditioned information matrix than our proposed *** simulation results demonstrate the efficacy and advantage of our proposed algorithm over this recent VDF-ED algorithm.

关键词： Non-persistent excitation oblique projection recursive least squares(RLS) variable-direction forgetting(VDF)

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Rank-Based Adaptive Brooding in a Mimetic Coral Reefs Search for Feature Selection 31

Rank-Based Adaptive Brooding in a Mimetic Coral Reefs Search...

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31st International Conference on Electrical Engineering, ICEE 2023

作者： Farjadi, Seyed Amirhossein Akbarzadeh-T, M.-R. Ferdowsi University of Mashhad Center of Excellence on Soft Computing and Intelligent Information Processing Department of Computer Engineering Mashhad Iran

ISBN: (纸本)9798350312560

Feature selection (FS) is an essential preprocessing step in machine learning and data mining. FS algorithms eliminate the irrelevant and redundant features from a feature vector, thereby increasing the accuracy and robustness of the data mining process while offering higher transparency and lower computation. Here, we suggest using the coral reefs optimization algorithms combined with a betahill climbing algorithm as part of a mimetic search strategy. The Coral Reefs is a population-based global search technique that combines well with local search techniques, as suggested here. However, such a combination is also computationally expensive. They could also converge prematurely with few iterations or insufficient population diversity. Accordingly, we propose here a more efficient search in the problem space by transforming the brooding operator into a function of the ranks of coral larvae. In this way, the chance of disturbing a larva with a higher rank is reduced, and at the same time, the exploratory role of larvae with a lower rank is used best. The performance of the proposed method has been evaluated using three KNN, Decision Tree, and SVM classifiers on eight UCI standard datasets using Precision, Recall and f1 score criteria. Results show that the rank-based adaptive brooding approach is superior to the fixed brooding approach in the high-dimensional problem space. © 2023 IEEE.

关键词： Optimization

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Algorithm for Solving Traveling Salesman Problem Based on Self-Organizing Mapping Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 463-470页

作者：朱江辉叶航航姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System Ministry of EducationShanghai 200240China Huawei Technologies Co. Ltd.Shanghai 201206China

Traveling salesman problem(TSP)is a classic non-deterministic polynomial-hard optimization *** on the characteristics of self-organizing mapping(SOM)network,this paper proposes an improved SOM network from the perspectives of network update strategy,initialization method,and parameter *** paper compares the performance of the proposed algorithms with the performance of existing SOM network algorithms on the TSP and compares them with several heuristic *** show that compared with existing SOM networks,the improved SOM network proposed in this paper improves the convergence rate and algorithm *** with iterated local search and heuristic algorithms,the improved SOM net-work algorithms proposed in this paper have the advantage of fast calculation speed on medium-scale TSP.

关键词： traveling salesman problem(TSP) self-organizing mapping(SOM) combinatorial optimization neu-ral network

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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

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Science China(Information Sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control（MRAC） of linear time-invariant（LTI） systems: limt→∞ e（i）（t） = 0, i = 1,..., n*-1, where n*and e（i）（t） denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control（including indirect MRAC and indirect adaptive pole placement control） of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.（1） It can track a reference signal with any order derivatives being unknown.（2） It has higher-order exponential or practical output tracking properties.（3） Finally, it is different from the usual MRAC system, whose reference signal's derivatives up to the n*order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

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Improved beluga whale optimization algorithm based cluster routing in wireless sensor networks

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Mathematical Biosciences and Engineering 2024年第3期21卷 4587-4625页

作者： Yuan, Hao Chen, Qiang Li, Hongbing Zeng, Die Wu, Tianwen Wang, Yuning Zhang, Wei Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area Chongqing Three Gorges University Chongqing404120 China Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center Chongqing Three Gorges University Chongqing404120 China Chongqing Municipal Key Laboratory of Intelligent Information Processing and Control Chongqing Three Gorges University Chongqing404120 China

Cluster routing is a critical routing approach in wireless sensor networks (WSNs). However, the uneven distribution of selected cluster head nodes and impractical data transmission paths can result in uneven depletion of network energy. For this purpose, we introduce a new routing strategy for clustered wireless sensor networks that utilizes an improved beluga whale optimization algorithm, called tCBWO-DPR. In the selection process of cluster heads, we introduce a new excitation function to evaluate and select more suitable candidate cluster heads by establishing the correlation between the energy of node and the positional relationship of nodes. In addition, the beluga whale optimization (BWO) algorithm has been improved by incorporating the cosine factor and t-distribution to enhance its local and global search capabilities, as well as to improve its convergence speed and ability. For the data transmission path, we use Prim’s algorithm to construct a spanning tree and introduce DPR for determining the optimal route between cluster heads based on the correlation distances of cluster heads. This effectively shortens the data transmission path and enhances network stability. Simulation results show that the improved beluga whale optimization based algorithm can effectively improve the survival cycle and reduce the average energy consumption of the network. © 2024 the Author(s).

关键词： Heuristic algorithms

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