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Chinese Automation Congress (CAC)

作者： Tian Zeng Li Xiao Gang Peng Aoze Wang Zhuo Wang Zhigang Sun Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Intelligence and Automation Huazhong University of Science and Technology Wuhan China

The key for bulldozers to realize automatic operation in mine scenes is whether they can accurately identify and accurately segment the retaining walls, however, because the point cloud dataset of the mine site is too few, resulting in the deep learning-based identification and segmentation algorithm cannot be applied in this scene. At the same time, because of the rugged road surface of the mine scene, the existence of a lot of dust, numerous disturbances, retaining wall features are not obvious and other problems, the algorithms proposed by previous scholars are not perfect enough to solve the problem. We propose a point cloud recognition and segmentation algorithm based on clustering and evaluation function of integrated features. Ours firstly compensates the skew of the point cloud map with RANSAC and down samples the data by gridding the point cloud. Then reduces the influence of dust and truck materials in the scene by normal vector and variance information. Finally, screens out the candidate target class by density clustering, and identifies and segments the retaining wall by integrated feature. Our proposed algorithm is validated in several different real mine scenarios and the results show that ours has high accuracy and strong robustness.

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An Overview of the Stability Analysis of Recurrent Neural Networks With Multiple Equilibria

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023年第3期34卷 1098-1111页

作者： Liu, Peng Wang, Jun Zeng, Zhigang Zhengzhou Univ Light Ind Sch Elect & Informat Engn Zhengzhou 450002 Peoples R China Henan Key Lab Informat Based Elect Appliances Zhengzhou 450002 Peoples R China City Univ Hong Kong Sch Data Sci Dept Comp Sci Hong Kong Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Educ Minist China Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

The stability analysis of recurrent neural networks (RNNs) with multiple equilibria has received extensive interest since it is a prerequisite for successful applications of RNNs. With the increasing theoretical results on this topic, it is desirable to review the results for a systematical understanding of the state of the art. This article provides an overview of the stability results of RNNs with multiple equilibria including complete stability and multistability. First, preliminaries on the complete stability and multistability analysis of RNNs are introduced. Second, the complete stability results of RNNs are summarized. Third, the multistability results of various RNNs are reviewed in detail. Finally, future directions in these interesting topics are suggested.

关键词： Stability criteria Switches Recurrent neural networks Mathematical model Stairs Delay effects Analytical models Complete stability multiple equilibria multistability recurrent neural networks (RNNs)

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Deployment of Heterogeneous Multi-Agent Systems via a PDE Approach

Deployment of Heterogeneous Multi-Agent Systems via a PDE Ap...

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Chinese Automation Congress (CAC)

作者： Jingtao Man Zhigang Zeng Qiang Xiao Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China School of Artificial Intelligence and Automation (of Huazhong University of Science and Technology) Wuhan China

Spatial deployment of large-scale heterogeneous multi-agent systems (HMASs) over desired 2D or 3D curves is investigated in this paper. With assumption that HMASs consist of numerous first-order agents (FOAs) and second-order agents (SOAs) that could obtain local information of desired curves and their positions relative to their closest neighbors, the collective dynamics of large-scale HMASs are modeled as heterogeneous partial differential equations (PDEs). In particular, this paper introduces series-dependent topological weights between neighboring agents, which are more versatile and practical than constant topological weights commonly used in previous studies. A novel single-point control scheme is proposed, where an informed agent is situated between the last FOA and first SOA. This operation could not only ensure successful implementation of spatial deployment, but also guarantee well-posedness of the constructed heterogeneous error PDEs. By utilizing inequality techniques, sufficient conditions for exponential convergence of error system are derived. A numerical example is presented to demonstrate effectiveness of the proposed approaches.

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A dual-stream recurrence-attention network with global–local awareness for emotion recognition in textual dialog

arXiv

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arXiv 2023年

作者： Li, Jiang Wang, Xiaoping Zeng, Zhigang Wuhan430074 China Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China Hubei Key Laboratory of Brain-inspired Intelligent Systems Wuhan430074 China

In real-world dialog systems, the ability to understand the user’s emotions and interact anthropomorphically is of great significance. Emotion Recognition in Conversation (ERC) is one of the key ways to accomplish this goal and has attracted growing attention. How to model the context in a conversation is a central aspect and a major challenge of ERC tasks. Most existing approaches struggle to adequately incorporate both global and local contextual information, and their network structures are overly sophisticated. For this reason, we propose a simple and effective Dual-stream Recurrence-Attention Network (DualRAN), which is based on Recurrent Neural Network (RNN) and Multi-head ATtention network (MAT). DualRAN eschews the complex components of current methods and focuses on combining recurrence-based methods with attention-based ones. DualRAN is a dual-stream structure mainly consisting of local- and global-aware modules, modeling a conversation simultaneously from distinct perspectives. In addition, we develop two single-stream network variants for DualRAN, i.e., SingleRANv1 and SingleRANv2. According to the experimental findings, DualRAN boosts the weighted F1 scores by 1.43% and 0.64% on the IEMOCAP and MELD datasets, respectively, in comparison to the strongest baseline. On two other datasets (i.e., EmoryNLP and DailyDialog), our method also attains competitive results. Copyright © 2023, The Authors. All rights reserved.

关键词： Recurrent neural networks

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Cascaded Generalized Extended State Observer-Based control for Servo Systems With Matched and Mismatched Disturbances

Cascaded Generalized Extended State Observer-Based Control f...

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Data Driven control and Learning Systems (DDCLS)

作者： Fuxi Jiang Jie Ye Shanmei Cheng Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan P. R. China

This paper proposes a cascaded generalized extended state observer-based control (CGESOBC) implementation scheme for a class of nonlinear servo systems with nonintegral-chain form and multiple matched and mismatched disturbances. In this approach, the total disturbances in each channel are reconstructed by designing a GESO. A reference model is developed with the estimated disturbances and the reference input, together with a state tracking error model containing the multiple residual disturbances. Another GESO is then devised to estimate the primary estimation errors, based on which a state feedback control law incorporating a dynamic compensator is formulated for robust stabilization of the state tracking error system. Moreover, the Lyapunov stability theory is applied to prove the bounded stability of the closed-loop system. Finally, the efficacy of the proposed control method is verified by a numerical example.

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A New Multi-Scale Model for Medium-Term Load Forecasting

A New Multi-Scale Model for Medium-Term Load Forecasting

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第35届中国控制与决策会议

作者： Peng Liu Hongliang Fang Jiang-Wen Xiao Yan-Wu Wang Xiao-Kang Liu School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education

When a large number of distributed power and renewable energy are connected to the smart grid,the volatility and intermittency of renewable energy bring some challenges to the smart ***,accurate medium-term load forecasting is essential because it is conducive to the stability of the power grid and can provide data support for the power generating *** factors affect medium-term load forecasting and the real-time electricity price is a very important factor among *** this paper,a multi-scale model based on LSTM model is proposed to extracts features from 3 different time scales including half-hourly time scale,daily time scale and monthly time *** first,the half-hourly data is processed by a half-hourly data processing layer to extract the half-hourly ***,its output is concatenated with the daily load data and is input into a daily data processing ***,the daily features are concatenated with the monthly load data and they are input into a monthly data processing layer to extract the monthly features and get the final forecasting *** case study results demonstrate that the proposed multi-scale model has better performance than the single-scale models.

关键词： Deep learning medium-term load forecasting LSTM real-time electricity price

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Designing a Completely Distributed Interval Observer for the LTI System

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IEEE TRANSACTIONS ON AUTOMATIC control 2025年第3期70卷 1793-1808页

作者： Wang, Xiaoling Xu, Weichen Su, Housheng Gao, Zhiwei Chen, Guanrong Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China Univ Northumbria Fac Engn & Environm Newcastle Upon Tyne NE1 8ST England City Univ Hong Kong Dept Elect Engn Hong Kong 999077 Peoples R China

In this article, the distributed interval observer design problem for a continuous-time linear time-invariant system with unknown external disturbance and measurement noise is revisited. By performing detectability decomposition for partial outputs of each sensor from the system matrix, a classical interval observer and an internally positive representation-based interval observer are designed for the detectable and the undetectable subsystems, respectively, which reduces the order of the resulting distributed interval observer. Furthermore, with a dynamic coupling gain on the communications among the interval observers, a completely distributed interval observer is designed without any prerequisite, except for the joint detectability of the partial measurements and the strong connectivity of the properly defined directed sensor network. Finally, after detailed analyses, the theoretical results were validated through numerical simulations.

关键词： Observers Measurement uncertainty Uncertainty Noise measurement Linear systems Observability Noise Intellectual property Time measurement Performance evaluation Bounded information distributed interval observer internally positive representation linear time-invariant (LTI) system order reduction

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Model-independent event-based consensus of multiple Euler-Lagrange systems with input disturbances

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Information Sciences 2024年 675卷

作者： Long, Mingkang An, Qing Su, Housheng School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan430074 China Artificial Intelligence School Wuchang University of Technology Wuhan430223 China

This paper investigates leaderless consensus (LLC) and leader-follower consensus (LFC) issues of multiple Euler-Lagrange systems (MELSs) with uncertain system parameters and input disturbances. Firstly, by utilizing event-based control strategy, event-based consensus protocols are proposed to achieve LLC and LFC, respectively. Then, to confirm that no Euler-Lagrange (EL) system will exhibit Zeno behavior under the above event-based consensus protocols, we show that the low bound of event-triggering interval is strictly positive for any time instants. Distinct with the existing related works, the proposed event-triggered consensus protocols only rely on local sampled state, and are irrelevant to the system parameters. Finally, some simulation examples are presented to illustrate the feasibility of the proposed event-based consensus algorithms. © 2024 Elsevier Inc.

关键词： Uncertainty analysis

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Point-Query Quadtree for Crowd Counting, Localization, and More

Point-Query Quadtree for Crowd Counting, Localization, and M...

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International Conference on Computer Vision (ICCV)

作者： Chengxin Liu Hao Lu Zhiguo Cao Tongliang Liu Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology China The University of Sydney Australia

We show that crowd counting can be viewed as a decomposable point querying process. This formulation enables arbitrary points as input and jointly reasons whether the points are crowd and where they locate. The querying processing, however, raises an underlying problem on the number of necessary querying points. Too few imply underestimation; too many increase computational overhead. To address this dilemma, we introduce a decomposable structure, i.e., the point-query quadtree, and propose a new counting model, termed Point quEry Transformer (PET). PET implements decomposable point querying via data-dependent quadtree splitting, where each querying point could split into four new points when necessary, thus enabling dynamic processing of sparse and dense regions. Such a querying process yields an intuitive, universal modeling of crowd as both the input and output are interpretable and steerable. We demonstrate the applications of PET on a number of crowd-related tasks, including fully-supervised crowd counting and localization, partial annotation learning, and point annotation refinement, and also report state-of-the-art performance. For the first time, we show that a single counting model can address multiple crowd-related tasks across different learning paradigms. Code is available at https://***/cxliu0/PET.

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Reward Shaping-Based Actor-Critic Deep Reinforcement Learning for Residential Energy Management

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2023年第3期19卷 2662-2673页

作者： Lu, Renzhi Jiang, Zhenyu Wu, Huaming Ding, Yuemin Wang, Dong Zhang, Hai-Tao Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China North China Elect Power Univ State Key Lab Alternate Elect Power Syst Renewable Beijing 102206 Peoples R China East China Univ Sci & Technol Key Lab Smart Mfg Energy Chem Proc Minist Educ Shanghai 200237 Peoples R China Chongqing Univ Posts & Telecommun Key Lab Ind Internet Things & Networked Control Chongqing 400065 Peoples R China Wuhan Univ Sci & Technol Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan 430081 Peoples R China Tianjin Univ Ctr Appl Math Tianjin 300072 Peoples R China Univ Navarra Dept Elect & Elect Engn San Sebastian 20018 Spain Huazhong Univ Sci & Technol State Key Lab Digital Mfg Equipment & Technol Wuhan 430074 Peoples R China

Residential energy consumption continues to climb steadily, requiring intelligent energy management strategies to reduce power system pressures and residential electricity bills. However, it is challenging to design such strategies due to the random nature of electricity pricing, appliance demand, and user behavior. This article presents a novel reward shaping (RS)-based actor-critic deep reinforcement learning (ACDRL) algorithm to manage the residential energy consumption profile with limited information about the uncertain factors. Specifically, the interaction between the energy management center and various residential loads is modeled as a Markov decision process that provides a fundamental mathematical framework to represent the decision-making in situations where outcomes are partially random and partially influenced by the decision-maker control signals, in which the key elements containing the agent, environment, state, action, and reward are carefully designed, and the electricity price is considered as a stochastic variable. An RS-ACDRL algorithm is then developed, incorporating both the actor and critic network and an RS mechanism, to learn the optimal energy consumption schedules. Several case studies involving real-world data are conducted to evaluate the performance of the proposed algorithm. Numerical results demonstrate that the proposed algorithm outperforms state-of-the-art RL methods in terms of learning speed, solution optimality, and cost reduction.

关键词： Energy management Home appliances Energy consumption Costs Schedules Informatics Load modeling Deep deterministic policy gradient deep reinforcement learning demand response residential energy management reward shaping (RS)

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