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arXiv 2020年

作者： Gang, Peng Zezao, Lu Shanliang, Chen Bocheng, Chen Dingxin, He Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

To address the weak observability of monocular visual–inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed odometer pre-integration method to add the wheel speed measurement to the least-squares problem in a tightly coupled manner. For abnormal motion situations, such as skidding and abduction, this paper adopts the Mecanum mobile chassis control method, based on torque control. This method use the motion constraint error to estimate the reliability of the wheel speed measurement. At the same time, in order to prevent incorrect chassis speed measurements from negatively influencing robot pose estimation, this paper uses three methods to detect abnormal chassis movement and analyze chassis movement status in real time. When the chassis movement is determined to be abnormal, the wheel odometer pre-integration measurement of the current frame is removed from the state estimation equation, thereby ensuring the accuracy and robustness of the state estimation. Experimental results show that the accuracy and robustness of the method in this paper are better than those of a monocular visual–inertial odometer. Copyright © 2020, The Authors. All rights reserved.

关键词： Anomaly detection

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Single upper limb pose estimation method based on improved stacked hourglass network

arXiv

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arXiv 2020年

作者： Peng, Gang Zheng, Yuezhi Li, Jianfeng Yang, Jin Deng, Zhonghua Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

At present, most high-accuracy single-person pose estimation methods have high computational complexity and insufficient real-time performance due to the complex structure of the network model. However, a single-person pose estimation method with high real-time performance also needs to improve its accuracy due to the simple structure of the network model. It is currently difficult to achieve both high accuracy and real-time performance in single-person pose estimation. For use in human–machine cooperative operations, this paper proposes a single-person upper limb pose estimation method based on an end-to-end approach for accurate and real-time limb pose estimation. Using the stacked hourglass network model, a single-person upper limb skeleton key point detection model was designed. Deconvolution was employed to replace the up-sampling operation of the hourglass module in the original model, solving the problem of rough feature maps. Integral regression was used to calculate the position coordinates of key points of the skeleton, reducing quantization errors and calculations. Experiments showed that the developed single-person upper limb skeleton key point detection model achieves high accuracy and that the pose estimation method based on the end-to-end approach provides high accuracy and real-time performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Convolutional neural networks

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Vision-based Autonomous Landing of Unmanned Aerial Vehicle on a Motional Unmanned Surface Vessel

Vision-based Autonomous Landing of Unmanned Aerial Vehicle o...

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Chinese control Conference (CCC)

作者： Zhe-Cheng Xu Bin-Bin Hu Bin Liu X.D. Wang Hai-Tao Zhang School of Artificial Intelligence and Automation the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan P.R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

This paper has developed a vision-based control approach for autonomous tracking and landing on a motional Unmanned surface vessel (USV) with an unmanned aerial vehicle (UAV). First, a novel three-stage visual detection method is proposed to estimate the relative 3D position between UAV and USV, where the USV stays in a suitable view of the camera of the UAV. Then a PID controller is designed to regulate the attitude of the quadrotor and the movement of the vessel, which enables the successful landing procedure of the UAV on a motional USV. Finally, lake experiments are conducted to verify the effectiveness of the proposed algorithm.

关键词： Cameras Drones Target tracking Mathematical model Three-dimensional displays

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The research of g-mixing and g-equicontinuity on the hyperspace of topological group action 12

The research of g-mixing and g-equicontinuity on the hypersp...

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12th International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2020

作者： Zhan-Jiang, Ji Wei, Shi School of Information and Electronic Engineering Wuzhou University China Guangxi Colleges and Universities Key Lab. of Image Processing and Intelligent Information System Wuzhou University China Guangxi Colleges and Universities Key Laboratory of Professional Software Technology Wuzhou University China Party Committee Office Wuzhou Vocational College China

ISBN: (纸本)9781728170817

G-mixing and G-equicontinuity have an important significance in terms of theory and application. According to the definition of mixing and equicontinuity, we give the concept of G-mixing and G-equicontinuity in this paper. By inference, some conclusions of the hyperspace were extended to the hyperspace of topological group action. We have the following result: (1)Letbe the hyperspace ofandbe a pseudo equivariant map. All non-empty open set are invariable for. Ifis a G-mixing map, thenis a G-mixing map;(2)Letbe the hyperspace of andbe a equivariant map. Thenis a G-mild mixing map if and only ifis a G-mild mixing map;(3)Letbe the hyperspace ofandbe a equivariant map. Thenis a G-equicontinuity map if and only ifis a G-equicontinuity map. These results enriched the theory of the G-mixing and G-equicontinuity on the hyperspace of topological group action. © 2020 IEEE.

关键词： Mixing

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The research of G-chain transitive and G-chain mixing on the hyperspace of topological group action 12

The research of G-chain transitive and G-chain mixing on the...

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12th International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2020

ISBN: (纸本)9781728170817

G-chain transitive and G-chain mixing have an important significance in terms of theory and application. According to the definition of chain transitive and chain mixing, we give the concept of G-chain transitiveand G-chain mixing in this paper. By inference, some conclusions of the hyperspace were extended to the hyperspace of topological group action. We have the following result: (1)Letbe the hyperspace of. Ifis a G-chain transitive map, thenis a G-chain transitive map;(2)Letbe the hyperspace of. Ifis a G-chain mixing map, thenis a G-chain mixing map;(3)Letbe the hyperspace ofandbe a equivariant map. All non-empty open set are invariable for. Thenis a G-exact map if and only ifis a G-exact map. These results enriched the theory of the G-chain transitive and G-chain mixing on the hyperspace of topological group action. © 2020 IEEE.

关键词： Group theory

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Memristive Fuzzy Deep Learning Systems

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2021年第8期29卷 2224-2238页

作者： Zhang, Yang Cui, Menglin Shen, Linlin Zeng, Zhigang Shenzhen Univ Sch Comp Sci & Software Engn Comp Vis Inst Shenzhen 518060 Peoples R China Univ Nottingham Sch Comp Sci Ningbo 315100 Zhejiang Peoples R China Shenzhen Inst Sch Comp Sci & Software Engn Comp Vis Inst Shenzhen 518060 Peoples R China Shenzhen Inst Artificial Intelligence & Robot Soc Shenzhen 518172 Peoples R China Huazhong Univ Sci & Technol Sch Automat Wuhan 430074 Peoples R China Educ Minist China Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

As a novel nanoscale device, the memristor has elicited widespread interest in implementing compact and efficient neurocomputing systems in the hardware. In this article, fuzzy deep learning systems using fuzzy memristive modeling methods are presented. One key issue in memristive modeling is the device variation issue due to device-to-device and cycle-to-cycle variations. It is very difficult to distinguish the intermediate memristive states in a multilevel memristor. A fuzzy modeling method is therefore proposed to define the memristive states in a dynamic way. In addition, fuzzy deep learning systems are presented for fuzzy pattern recognition such as image recognition. To the authors' best knowledge, this is the first work utilizing memristive fuzzy deep learning systems to realize image recognition. The expected input and output in the memristive fuzzy deep learning systems are refined via a bidirectional fuzzy rule. The effectiveness of the proposed fuzzy methods has been verified with comprehensive methods, such as single-layer neural networks, multi-layer neural networks, convolutional neural networks, and k-nearest neighbor method. Another highlight of the proposed fuzzy deep learning system is that there is a great reduction in memory and a significant increase in the speed for image recognition tasks with the same level of testing accuracy.

关键词： Deep learning fuzzy deep neural networks fuzzy system (FS) image processing image recognition memristor

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Super Twisting control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles 30

Super Twisting Control of Passive Gait Training Exoskeleton ...

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30th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2019

作者： Zhang, Mengshi Huang, Jian Cao, Yu Zhang, Hai-Tao Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781728126746

Pneumatic Muscles (PMs) - driven exoskeleton has a promising prospect in the field of rehabilitation and assistance, because of the PMs intrinsic features of compliance and high force-to-weight ratio. However, the precise control of PMs-driven exoskeleton still remains a challenging problem due to the hysteresis, time-varying parameters of PMs and complexity of the mechanism. To solve this problem, this paper presents a super twisting controller (STC), essentially a second-order sliding mode control, to realize the human gait tracking control of lower limb exoskeleton. As a result, the disturbances and uncertainties of the system can be handled, and the chattering caused by the traditional sliding mode control (SMC) could be eliminated. The stability of the closed-loop system is ensured according to the Lyapunov theorem. In addition, we conduct experiments in real exoskeleton system and the results illustrate the validity of the super twisting algorithm. Pneumatic Muscles (PMs) - driven exoskeleton has a promising prospect in the field of rehabilitation and assistance, because of the PMs' intrinsic features of compliance and high force-to-weight ratio. However, the precise control of PMs-driven exoskeleton still remains a challenging problem due to the hysteresis, time-varying parameters of PMs and complexity of the mechanism. To solve this problem, this paper presents a super twisting controller (STC), essentially a second-order sliding mode control, to realize the human gait tracking control of lower limb exoskeleton. As a result, the disturbances and uncertainties of the system can be handled, and the chattering caused by the traditional sliding mode control (SMC) could be eliminated. The stability of the closed-loop system is ensured according to the Lyapunov theorem. In addition, we conduct experiments in real exoskeleton system and the results illustrate the validity of the super twisting algorithm.. © 2019 IEEE.

关键词： Sliding mode control

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Unsupervised pool-based active learning for linear regression

arXiv

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arXiv 2020年

作者： Liu, Ziang Wu, Dongrui Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

In many real-world machine learning applications, unlabeled data can be easily obtained, but it is very timeconsuming and/or expensive to label them. So, it is desirable to be able to select the optimal samples to label, so that a good machine learning model can be trained from a minimum amount of labeled data. Active learning (AL) has been widely used for this purpose. However, most existing AL approaches are supervised: they train an initial model from a small amount of labeled samples, query new samples based on the model, and then update the model iteratively. Few of them have considered the completely unsupervised AL problem, i.e., starting from zero, how to optimally select the very first few samples to label, without knowing any label information at all. This problem is very challenging, as no label information can be utilized. This paper studies unsupervised pool-based AL for linear regression problems. We propose a novel AL approach that considers simultaneously the informativeness, representativeness, and diversity, three essential criteria in AL. Extensive experiments on 14 datasets from various application domains, using three different linear regression models (ridge regression, LASSO, and linear support vector regression), demonstrated the effectiveness of our proposed approach. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear regression

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A hierarchical colored Petri net-based cyberattacks response strategy making approach for critical infrastructures

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INTERNATIONAL JOURNAL OF DISTRIBUTED SENSOR NETWORKS 2020年第1期16卷

作者： Zhu, Qianxiang Qin, Yuanqing Zhao, Yue Zhou Chunjie Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Sch Artificial Intelligence & Automat Minist Educ Wuhan 430074 Hubei Peoples R China

Critical infrastructures are essential for national security, economy, and public safety. As an important part of security protection, response strategy making provides useful countermeasures to reduce the impacts of cyberattacks. However, there have been few researches in this domain that investigate the cyberattack propagation within a station and the incident spreading process in the critical infrastructure network simultaneously, let along analyzing the relationships between security strategy making for a station and scheduling strategy for the critical infrastructure network. To tackle this problem, a hierarchical colored Petri net-based cyberattacks response strategy making approach for critical infrastructures is presented. In this approach, the relationships among cyberattacks, security measures, devices, functions, and station capacity are analyzed and described in a hierarchical way, and the system loss is calculated with the input of abnormal station capacities. Then, based on the above model, the security strategy making for a station and the scheduling strategy making for the critical infrastructure network are investigated in depth. Finally, the effectiveness of the proposed approach is demonstrated on a simulated water supply system.

关键词： Critical infrastructures hierarchical colored Petri net cyberattack response cybersecurity protection system-of-systems

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Convergence Analysis of Nonconvex Distributed Stochastic Zeroth-order Coordinate Method

Convergence Analysis of Nonconvex Distributed Stochastic Zer...

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IEEE Conference on Decision and control

作者： Shengjun Zhang Yunlong Dong Dong Xie Lisha Yao Colleen P. Bailey Shengli Fu OS-CAR Laboratory University of North Texas Denton TX USA School of Artificial Intelligence and Automation the MOE Key Laboratory of Image Processing and Intelligent Control and the State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China University of North Texas Denton TX USA

ISBN: (纸本)9781665436601

This paper investigates the stochastic distributed nonconvex optimization problem of minimizing a global cost function formed by the summation of n local cost functions. We solve such a problem by involving zeroth-order (ZO) information exchange. In this paper, we propose a ZO distributed primal–dual coordinate method (ZODIAC) to solve the stochastic optimization problem. Agents approximate their own local stochastic ZO oracle along with coordinates under an adaptive smoothing parameter. We show that the proposed algorithm achieves the convergence rate of ${\mathcal{O}}(\sqrt p /\sqrt T )$ for general nonconvex cost functions. We demonstrate the efficiency of proposed algorithms through a numerical example in comparison with the existing state-of-the-art centralized and distributed ZO algorithms.

关键词： Smoothing methods Conferences Benchmark testing Cost function Approximation algorithms Information exchange Convergence

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