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IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Jieting Zhao Hanjing Ye Yu Zhan Hao Luan Hong Zhang Department of Electronic and Electrical Engineering SUSTech Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) Department of Computer Science School of Computing National University of Singapore

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make a wrong prediction under partial observation and give it an unexpectedly high confidence. To solve the above problems, this study first develops a method called Part-HOE that estimates orientation from the visible joints of a target person so that it is able to handle partial observation. Subsequently, we introduce a confidence-aware orientation estimation method, enabling more accurate orientation estimation and reasonable confidence estimation under partial observation. The effectiveness of our method is validated on both public and custom-built datasets, and it shows great accuracy and reliability improvement in partial observation scenarios. In particular, we show in real experiments that our method can benefit the robustness and consistency of the Robot Person Following (RPF) task.

关键词： Accuracy Filtering Estimation Robustness Autonomous agents intelligent robots

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?-net: Dual supervised medical image segmentation with multi-dimensional self-attention and diversely-connected multi-scale convolution

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NEUROCOMPUTING 2022年 500卷 177-190页

作者： Xu, Zhenghua Liu, Shijie Yuan, Di Wang, Lei Chen, Junyang Lukasiewicz, Thomas Fu, Zhigang Zhang, Rui State Key Laboratory of Reliability and Intelligence of Electrical Equipment Hebei University of Technology China Tianjin Key Laboratory of Bioelectromagnetic Technology and Intelligent Health Hebei University of Technology China College of Computer Science and Software Engineering Shenzhen University China Department of Computer Science University of Oxford United Kingdom Department of Health Management Center 983 Hospital of Joint Logistics Support Force China www.ruizhang.info

Although U-Net and its variants have achieved some great successes in medical image segmentation tasks, their segmentation performances for small objects are still unsatisfactory. Therefore, in this work, a new deep model, co-Net, is proposed to achieve more accurate medical image segmentations. The advancements of co-Net are mainly threefold: First, it incorporates an additional expansive path into U-Net to import an extra supervision signal and obtain a more effective and robust image segmentation by dual supervision. Then, a multi-dimensional self-attention mechanism is further developed to highlight salient features and suppress irrelevant ones consecutively in both spatial and channel dimensions. Finally, to reduce semantic disparity between the feature maps of the contracting and expansive paths, we further propose to integrate diversely-connected multi-scale convolution blocks into the skip connections, where several multi-scale convolutional operations are connected in both series and parallel. Extensive experimental results on three abdominal CT segmentation tasks show that (i) co-Net greatly outperforms the state-of-the-art image segmentation methods in medical image segmentation tasks;(ii) the proposed three advancements are all effective and essential for co-Net to achieve the superior performances;and (iii) the proposed multi-dimensional self-attention (resp., diversely-connected multi scale convolution) is more effective than the state-of-the-art attention mechanisms (resp., multi-scale solutions) for medical image segmentations. The code will be released online after this paper is formally accepted. (c) 2022 Elsevier B.V. All rights reserved.

关键词： Medical image segmentation Dual supervision Multi-dimensional self-attention Diversely-connected multi-scale convolution

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A Cooperative Security Monitoring Mechanism Aided by Optimal Multiple Slave Cluster Heads for UASNs

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China Communications 2023年第5期20卷 148-169页

作者： Yougan Chen Wei Wang Xiang Sun Yi Tao Zhenwen Liu Xiaomei Xu Key Laboratory of Underwater Acoustic Communication and Marine Information Technology Xiamen UniversityXiamen 361005China Shenzhen Research Institute of Xiamen University Shenzhen 518000China Dongshan Swire Marine Station College of Ocean and Earth SciencesXiamen UniversityXiamen 361102China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering University of New MexicoAlbuquerqueNM 87131USA College of Harbour and Coastal Engineering Jimei UniversityXiamen 361021China

As each cluster head(CH)sensor node is used to aggregate,fuse,and forward data from different sensor nodes in an underwater acoustic sensor network(UASN),guaranteeing the data security in a CH is very *** this paper,a cooperative security monitoring mechanism aided by multiple slave cluster heads(SCHs)is proposed to keep track of the data security of a *** designing a low complexity“equilateral triangle algorithm(ETA)”,the optimal SCHs(named as ETA-based multiple SCHs)are selected from the candidate SCHs so as to improve the dispersion and coverage of SCHs and achieve largescale data security *** addition,by analyzing the entire monitoring process,the close form expression of the probability of the failure attack identification for the SCHs with respect to the probability of attack launched by ordinary nodes is *** simulation results show that the proposed optimal ETA-based multiple SCH cooperation scheme has lower probability of the failure attack identification than that of the existing *** addition,the numerical simulation results are consistent with the theoretical analysis results,thus verifying the effectiveness of the proposed scheme.

关键词： underwater acoustic sensor networks data security cluster head nodes optimal location distribution of multiple slave cluster head nodes

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KGNet: Knowledge-Guided Networks for Category-Level 6D Object Pose and Size Estimation

KGNet: Knowledge-Guided Networks for Category-Level 6D Objec...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiwei Meng Jason Gu Shiqiang Zhu Jianfeng Liao Tianlei Jin Fangtai Guo Wen Wang Wei Song Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdis-ciplinary Innovation Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

Despite the giant leap made in object 6D pose estimation and robotic grasping under structured scenarios, most approaches depend heavily on the exact CAD models of target objects beforehand, thereby limiting their wide applications. To address this, we propose a novel knowledge-guided network - KGNet to estimate the pose and size of category-level unseen objects. This network includes three primary innovations: knowledge-guided categorical model generation, pointwise deformation probability matrix and synergetic RGBD feature fusion, with the former two leveraging categorical object knowledge for unseen object reconstruction and the latter one facilitating pose-sensitive feature extraction. Exten-sive experiments on CAMERA25 and REAL275 verify their effectiveness, and KGNet achieves the SOTA performance on these two acknowledged benchmarks. Additionally, a real-world robotic grasping experiment is conducted, and its results further qualitatively prove the practicability and robustness of KGNet.

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Hybrid polynomial-based trajectory planning for lower limb exoskeleton robots 18

Hybrid polynomial-based trajectory planning for lower limb e...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Li, Shupei Zhang, Chi Yi, Feng Lv, Pingping Yuan, Ting Zhang, Meitong University of Chinese Academy of Sciences Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology Ningbo315201 China Ningbo Institute of Materials Technology and Engineering Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo315201 China Ningbo University Faculty of Electrical Engineering and Computer Science Ningbo315201 China Hebei University of Science & Technology School of Electrical Engineering Ningbo315201 China

ISBN: (纸本)9798350312201

To ensure smooth, continuous, and precise motion of lower limb exoskeleton robots, this paper proposes a 6-5-6 polynomial trajectory planning method (6-5-6 PTPM) that combines 5th and 6th polynomials. By imposing corresponding kinematic constraints, this method achieves the trajectory plan of seven sub-phases of the gait cycle on the kinematic model of the lower limb exoskeleton robot. The simulation is conducted and compared to the 4-3-4 polynomial trajectory planning method (4-3-4 PTPM). The comparison results indicate that the 6-5-6 PTPM is shown to have a lower error between the planned trajectory and the actual trajectory. Additionally, it avoids spikes of the acceleration curve that existed in the 4-3-4 polynomial method. The proposed method enables the acceleration curve smoother and mechanical impact lessened, which demonstrates the feasibility and stability of the proposed method. © 2023 IEEE.

关键词： Trajectories

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GLaPE: Gold Label-agnostic Prompt Evaluation for Large Language Models

GLaPE: Gold Label-agnostic Prompt Evaluation for Large Langu...

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2024 Conference on Empirical Methods in Natural Language Processing, EMNLP 2024

作者： Zhang, Xuanchang Zhang, Zhuosheng Zhao, Hai College of Zhiyuan Shanghai Jiao Tong University China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China Department of Computer Science and Engineering Shanghai Jiao Tong University China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University China Shanghai Key Laboratory of Trusted Data Circulation and Governance in Web3 China

ISBN: (纸本)9798891761643

Despite the rapid progress of large language models (LLMs), their task performance remains sensitive to prompt design. Recent studies have explored leveraging the LLM itself as an optimizer to identify optimal prompts that maximize task accuracy. However, when evaluating prompts, such approaches heavily rely on elusive manually annotated gold labels to calculate task accuracy for each candidate prompt, which hinders its generality. To overcome the limitation, this work proposes GLaPE, a gold label-agnostic prompt evaluation method to alleviate dependence on gold labels. GLaPE is composed of two critical aspects: self-consistency evaluation of a single prompt and mutual-consistency refinement across multiple prompts. Experimental results on 8 widely-recognized reasoning tasks demonstrate that GLaPE can produce more effective prompts, achieving performance comparable to those derived from manually annotated gold labels. Analysis shows that GLaPE provides reliable evaluations aligned with accuracy, even in the absence of gold labels. Code is publicly available at https://***/thunderous77/GLaPE. © 2024 Association for Computational Linguistics.

关键词： Computational linguistics

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A computer Vision Approach to Plant Growth Monitoring in an Embedded CubeSat Module

A Computer Vision Approach to Plant Growth Monitoring in an ...

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IEEE Conference on Aerospace

作者： Alexis Lopez Olaoluwayimika Olugbenle Michael C.F. Bazzocchi Department of Mechanical and Aerospace Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY USA Department of Electrical and Computer Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY USA Department of Mechanical and Aerospace Engineering Astronautics and Robotics Laboratory (ASTRO Lab) Clarkson University Potsdam NY Department of Earth and Space Science and Engineering York University Toronto Canada

The investigation and development of space-based food production systems are essential to improve the reliability and availability of fresh sustenance for astronauts. With their compact size and low-cost production, CubeSats can provide a unique platform for plant-based in-space experiments. Additionally, the combination of CubeSats and computer vision can allow for monitoring the health of plants during their growth cycles. This paper investigates the electronics and data handling of a crop growth module, otherwise referred to as an environmental monitoring and control subsystem (EMCS), as well as the integration of computer vision techniques for plant growth and development. Using the Otsu thresholding and holistically-nested edge detection algorithms, image segmentation and edge detection were performed, respectively. A support vector machine (SVM) was also employed to classify foliage and provide feedback on the plant’s health. The results from the system show that the computer vision approach can accurately predict the health of the plants based on color and texture. This study builds a foundation for future plant health monitoring research in deep space environments.

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Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Driving

arXiv

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arXiv 2024年

作者： Greer, Ross Trivedi, Mohan M. The Laboratory for Intelligent and Safe Automobiles Department of Electrical and Computer Engineering University of California San Diego La Jolla CA92092 United States

This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active learning framework, aiming to reduce annotation and data costs while maintaining model performance. Our approach leverages trajectory information to guide data selection, promoting diversity in the training data. We demonstrate the effectiveness of our methods on the trajectory prediction task using the nuScenes dataset, showing consistent performance gains over random sampling across different data pool sizes, and even reaching sub-baseline displacement errors at just 50% of the data cost. Our results suggest that sampling typical data initially helps overcome the "cold start problem," while introducing novelty becomes more beneficial as the training pool size increases. By integrating trajectory-state-informed active learning, we demonstrate that more efficient and robust autonomous driving systems are possible and practical using low-cost data curation strategies. Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Towards Explainable, Safe Autonomous Driving with Language Embeddings for Novelty Identification and Active Learning: Framework and Experimental Analysis with Real-World Data Sets

arXiv

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arXiv 2024年

作者： Greer, Ross Trivedi, Mohan M. Laboratory for Intelligent and Safe Automobiles Department of Electrical and Computer Engineering University of California San Diego La Jolla CA92092 United States

This research explores the integration of language embeddings for active learning in autonomous driving datasets, with a focus on novelty detection. Novelty arises from unexpected scenarios that autonomous vehicles struggle to navigate, necessitating higher-level reasoning abilities. Our proposed method employs language-based representations to identify novel scenes, emphasizing the dual purpose of safety takeover responses and active learning. The research presents a clustering experiment using Contrastive Language-Image Pretrained (CLIP) embeddings to organize datasets and detect novelties. We find that the proposed algorithm effectively isolates novel scenes from a collection of subsets derived from two real-world driving datasets, one vehicle-mounted and one infrastructure-mounted. From the generated clusters, we further present methods for generating textual explanations of elements which differentiate scenes classified as novel from other scenes in the data pool, presenting qualitative examples from the clustered results. Our results demonstrate the effectiveness of language-driven embeddings in identifying novel elements and generating explanations of data, and we further discuss potential applications in safe takeovers, data curation, and multi-task active learning. Note to Practitioners—The processes of data collection, curation, and annotation are important in building massive but learning-efficient datasets towards a variety of applications in autonomous driving. Using the diversity-based sampling techniques presented in this research at the curation stage of data management can help in identifying unique samples to be annotated or analyzed, potentially saving arduous hours of fine-grained human labelling. Accordingly, such curation steps, especially with the explainability feature highlighted in this research, can indicate areas where data may be lacking in the current set, offering ideas for fleet management to fill gaps in the data collection process.

关键词： Anomaly detection

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Digital Twin for Solar Photovoltaic Power Estimations Based on an Ensemble of Recurrent Neural Networks

Digital Twin for Solar Photovoltaic Power Estimations Based ...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Michael Walters Ganesh K. Venayagamoorthy Holcombe Department of Electrical and Computer Engineering Real-Time Power and Intelligent Systems Laboratory Clemson University Clemson SC U.S.A

ISBN: (数字)9798350360868

ISBN: (纸本)9798350360875

Planning, managing, and maintaining solar photovoltaic (PV) plants is becoming increasingly challenging as a result of their increasing implementation world-wide. Solar PV power generation estimations provide a source of knowledge and certainty, assisting system operators in day-to-day responsibilities. Digital twins (DTs) replicate physical entities within a virtual setting, providing a real-time platform to perform solar PV power generation estimations, further enhancing situational awareness and operational efficiency. In this paper, a DT is developed and implemented for Clemson University's 1 MW solar PV plant located in South Carolina, USA to perform solar PV power generation estimations. An ensemble of Elman recurrent neural networks (ERNNs) is utilized in the DT for solar PV power generation estimations, replicating PV plant behaviors and characteristics. The ERNN ensemble utilizes data collected at the PV plant site, i.e. generated power, solar irradiance and ambient temperature. The DT's performance is evaluated based on different weather conditions and ERNN ensemble's output selection methods. Typical results are presented to show the effectiveness of the neural network ensemble based DT for solar PV power generation estimations.

关键词： Photovoltaic systems Recurrent neural networks Accuracy Heuristic algorithms Power system dynamics Estimation Artificial neural networks

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