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EAVFormer: an end-to-end audio and visual emotion recognition network based on transformers

Multimedia Systems 2025年第3期31卷 1-22页

作者： Liu, Haoran Sun, Zijian Li, Haibin Li, Yaqian Zhang, Wenming Song, Tao School of Information Science and Engineering Yanshan University Qinhuangdao China The Key Laboratory for Special Fiber and Fiber Sensor of Hebei Province Yanshan University Qinhuangdao China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao China Shenzhen Research Institute of Yanshan University Shenzhen China Key Lab of Measurement Technology & Instrumentation of Hebei Province School of Electrical Engineering Yanshan University Qinhuangdao China

Audio-visual emotion recognition, integrating information from various sources, enhances the comprehensive understanding and analysis of human emotions. However, existing methods in this field primarily focus on feature fusion, often overlooking the equally crucial stage of feature extraction. Typically, these methods employ pre-trained models to extract features during the initial phase, complicating modality-specific feature extraction and increasing system complexity and coordination challenges, which hinder effective audio-visual feature fusion. To address these issues, we propose an end-to-end audio-visual emotion recognition model, EAVFormer. For the audio modality, we input raw audio signals along with a mix of mel spectrograms and Mel Frequency Cepstral Coefficients (MFCCs), employing a hierarchical transformer technique that facilitates both shallow local and deep global feature extraction to fully harness complementary acoustic information, significantly enhancing the acoustic modality’s contribution. For the visual modality, we input raw video frames and employ a hierarchical transformer feature extraction method that integrates three-dimensional convolution and spatio-temporal self-attention mechanisms to address spatial and temporal redundancies and dependencies, thereby enhancing the expression of dynamic visual information. In the modal fusion stage, we construct dual-modality representations and encode inter-modal information while preserving modality-specific and meaningful intra-modal features. Testing on three popular datasets RAVDESS, CREMA-D, and CMU-MOSEI demonstrates that EAVFormer surpasses existing state-of-the-art methods in audio-visual emotion recognition accuracy, achieving rates of 95.17%, 86.13%, and 78.22%, respectively.

关键词： Image coding

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CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

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IEEE Internet of Things Journal 2025年

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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G-Anomaly: A Pyramid Graph Transformer-based Vision-Language Model for General Industrial Anomaly Detection

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IEEE Transactions on Automation Science and engineering 2025年

作者： Li, Jiaqi Wen, Shuhuan Fang, Bin Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Beiing University of Posts and Telecommunications Department of Artificial intelligence Beijing China

Visual-language alignment is crucial for enhancing the domain adaptability of industrial anomaly detection models. However, the existing methods overlook the importance of structured image representation, fail to further distinguish topological differences between anomalies and the inherent textures of products, which reduces the accuracy of semantic matching. To address this problem, we propose a novel industrial anomaly detection model G-Anomaly, to preserve the topological structure of the sample images and further enhance the model’s domain adaptability. We designed Pyramid Graph Transformer as a visual encoder to extract multi-scale visual features, which can directly preserve the structural relationships between different regions of the image, and also optimize the over-smoothing issue present in deep graph networks, thereby retaining the distinguishability of anomalous nodes. Additionally, we design a Multi-level Domain Adapter that ensures semantic consistency of anomalous features across different scales and contexts by performing visual-language matching at various resolutions and levels of abstraction. This enhances the model’s domain adaptability for anomaly detection for a wide range of industrial products. We collect and craft an actual solar panel dataset PV_actual AD, and conduct extensive experiments on the public dataset MVTec AD as well as the actual solar panel dataset PV_actual AD. This has demonstrated that G-Anomaly not only performs well in standard testing environments but also exhibits robustness and domain adaptability for anomaly detection tasks in real-world scenarios. © 2025 IEEE. All rights reserved.

关键词： Semantics

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Global-Local Context Enhanced Yolo for Small Object Detection in Uav Images

SSRN

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SSRN 2025年

作者： Wei, Lixin Han, Kangshuai Li, Xin Che, Haijun Hu, Ziyu Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan University Hebei Qinhuangdao066000 China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Hebei Qinhuangdao066000 China

Object detection using Unmanned Aerial Vehicles (UAVs) has emerged as a criti cal application across diverse domains. However, the wide-angle views of drones often result in images containing a high density of small objects, posing chal lenges for object detection such as few learnable features, significant occlusion, and an imbalanced distribution of positive and negative samples. To address these issues, this paper introduces AGLC-YOLO, an enhanced version of the YOLOv7 architecture specifically designed for detecting small objects in UAV images. AGLC-YOLO integrates global and local context information through a Attention guide Global-Local Context Information Extraction (AGLC) module. This module employs parallel dilated convolutions to capture local context infor mation and a transformer-based structure to extract global dependencies, which are then fused using an improved attention mechanism. The network also adds an additional small object detection head to enrich the small object information in the model. Additionally, AGLC-YOLO utilizes an auxiliary bounding box in con junction with the Inner-Wise Intersection over Union (Inner-WIoU) loss function to accelerate the bounding box regression process and improve detection accu racy. Experimental results on the VisDrone and ManipalUav datasets demonstrate that AGLC-YOLO achieves significant improvements over the baseline YOLOv7 model, with anincrease of 3%inAP50and2.7%inAP95ontheVisDronedataset, and 1.9% in AP50 and 2% in AP95 on the ManipalUav dataset. © 2025, The Authors. All rights reserved.

关键词： Convolution

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Contextual Multi-Armed Bandit-Based Dynamic Cooperative Link Configuration for AUV in UWASNs With Energy Harvesting

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Dai, Jun Li, Xinbin Han, Song Yu, Junzhi Liu, Zhixin Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Qinhuangdao066004 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

This paper investigates the cooperative link configuration problem for Autonomous Underwater Vehicle (AUV) in Underwater Acoustic (UWA) sensor networks with Energy Harvesting (EH), which aims to maximize long-term cumulative capacity by jointly optimizing cooperation relay, AUV transmission power, and relay transmission power. Subject to unknown time-varying Channel State Information (CSI), unpredictable stochastic EH, and variable communication topology caused by AUV mobility, the proposed problem is an unknown dynamic combination decision optimization problem. To resist the change of the dynamic UWA communication topology with unknown time-varying CSI and EH, a novel collaborative contextual multi-armed bandit learning framework is proposed, which allows relay nodes to learn cooperatively and enriches the learning information of relays. Consequently, the proposed learning framework can resist the change of the dynamic UWA communication topology efficiently, thereby achieving the superior link configuration quickly. Besides, a learning-rate adjustment rule for the dynamic UWA communication topology is proposed to adaptively balance the exploration-exploitation, thereby avoiding missing the real superior joint relay-power configuration. Finally, simulation results show the significantly superiority of the proposed scheme. © 2015 IEEE.

关键词： Cooperative communication

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control of epileptiform spikes based on nonlinear unscented Kalman filter

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Chinese Physics B 2014年第1期23卷 41-48页

作者：刘仙高庆李小俚 Key Lab of lndustrial Computer Control Engineering of Hebei Province Institute of Electrical Engineering Yanshan University Qinhuangdao 066004 China

A new control strategy based on nonlinear unscented Kalman filter(UKF) is proposed for a neural mass model that serves as a model for simulating real epileptiform stereo-electroencephalographic (SEEG) signals. The UKF is used as an observer to estimate the state from the noisy measurement because it has been proved to be effective for state estimation of nonlinear systems. A UKF controller is constructed via the estimated state and is illustrated to be effective for epileptiform spikes suppression of aforementioned model by numerical simulations.

关键词： unscented Kalman filter(UKF) control epileptiform spike closed-loop control neural mass model

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Fuzzy adaptive robust control for space robot considering the effect of the gravity

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Chinese Journal of Aeronautics 2014年第6期27卷 1562-1570页

作者： Qin Li Liu Fucai Liang Lihuan Gao Jingfang Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

Space robot is assembled and tested in gravity environment, and completes on-orbit service（OOS） in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control（FARC） strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative（PD） controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.

关键词： Fuzzy adaptive Microgravity Robustness Space robot Trajectory tracking control

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Collision avoidance for a mobile robot based on radial basis function hybrid force control technique

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Chinese Physics B 2009年第10期18卷 4222-4228页

作者：温淑焕 Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

Collision avoidance is always difficult in the planning path for a mobile robot. In this paper, the virtual force field between a mobile robot and an obstacle is formed and regulated to maintain a desired distance by hybrid force control algorithm. Since uncertainties from robot dynamics and obstacle degrade the performance of a collision avoidance task, intelligent control is used to compensate for the uncertainties. A radial basis function （RBF） neural network is used to regulate the force field of an accurate distance between a robot and an obstacle in this paper and then simulation studies are conducted to confirm that the proposed algorithm is effective.

关键词： mobile robot collision avoidance hybrid force/position control path planning RBF neural network

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A novel digital twin-enabled three-stage feature imputation framework for non-contact intelligent fault diagnosis

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Advanced engineering Informatics 2025年 66卷

作者： Yu, Yue Karimi, Hamid Reza Gelman, Len Liu, Xin Department of Mechanical Engineering Politecnico di Milano via La Masa 1 Milan20156 Italy School of Computing and Engineering University of Huddersfield Queensgate HuddersfieldHD1 3DH United Kingdom Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao06600 China

Vibration-based fault diagnosis methods are widely used in industrial applications due to their high accuracy and reliability. However, their implementation is often hindered by challenges such as confined spaces, harsh environmental conditions, and cost limitations. Moreover, traditional deep learning-based approaches frequently overlook the critical relationship between virtual and physical signals, which can limit their diagnostic performance. To overcome these challenges, this study introduces a novel digital twin-driven feature imputation framework (NIFD-Net) for non-contact intelligent fault diagnosis. The NIFD-Net framework consists of three key stages: (1) codebook generation, where features from simulated vibration signals (SVS) and non-contact signals (NCS) are compressed and regularized using diagnosis-oriented codebooks;(2) mapping construction, where a Transformer is employed to establish the relationship between SVS and NCS in a compressed feature space;and (3) diagnostic enhancement, where imputed SVS features are integrated with original NCS features to improve diagnostic performance. First, digital twin (DT)-enabled models, developed using structural parameters and fault characteristics, dynamically simulate the operating conditions of rolling bearings to generate high-quality SVS samples. The relationship between the two feature spaces of SVS and NCS is then learned by a transformer to impute the SVS features. Finally, the imputed SVS features are integrated with the original NCS features to enhance fault diagnostic performance. Extensive experiments on three case studies demonstrate that NIFD-Net outperforms state-of-the-art methods, achieving an average accuracy of 98.34% across diverse tasks. Notably, the framework exhibits strong noise robustness, maintaining high diagnostic performance even under adverse conditions (e.g., SNR = -10 dB). The results highlight the effectiveness of integrating simulated and real signals for non-contact fault diag

关键词： Vibrations (mechanical)

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Robust Iterative Learning control of Single-phase Grid-connected Inverter

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International Journal of Automation and computing 2014年第4期11卷 404-411页

作者： Zhong-Qiang Wu Chun-Hua Xu Yang Yang Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University

For the single phase inductance-capacitance-inductance(LCL) grid-connected inverter in micro-grid, a kind of robust iterative learning controller is designed. Based on the output power droop characteristics of inverter, the current sharing among the inverters is achieved. Iterative learning strategy is suitable for repeated tracking control and inhibiting periodic disturbance, and is designed using robust performance index, so that it has the ability to overcome the uncertainty of system parameters. Compared with the repetitive control, the robust iterative learning control can get high precision output waveform, and enhance the tracking ability for waveform, and the distortion problem of the output signal can be solved effectively.

关键词： Inductance-capacitance-inductance (LCL) filter iterative learning robust control power droop-characteristics repetitive control

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