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arXiv 2020年

作者： Zhang, Wen Deng, Lingfei Zhang, Lei Wu, Dongrui the 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 the School of Microelectronics and Communication Engineering Chongqing University Chongqing400044 China

—Transfer learning (TL) utilizes data or knowledge from one or more source domains to facilitate the learning in a target domain. It is particularly useful when the target domain has very few or no labeled data, due to annotation expense, privacy concerns, etc. Unfortunately, the effectiveness of TL is not always guaranteed. Negative transfer (NT), i.e., leveraging source domain data/knowledge undesirably reduces the learning performance in the target domain, has been a long-standing and challenging problem in TL. Various approaches have been proposed in the literature to handle it. However, there does not exist a systematic survey on the formulation of NT, the factors leading to NT, and the algorithms that mitigate NT. This paper fills this gap, by first introducing the definition of NT and its factors, then reviewing about fifty representative approaches for overcoming NT, according to four categories: secure transfer, domain similarity estimation, distant transfer, and NT mitigation. NT in related fields, e.g., multi-task learning, lifelong learning, and adversarial attacks, are also discussed. Copyright © 2020, The Authors. All rights reserved.

关键词： Surveys

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A visual kinematics calibration method for manipulator based on nonlinear optimization

arXiv

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arXiv 2020年

作者： Peng, Gang Wang, Zhihao Yang, Jin Li, Xinde Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China IEEE senior member School of Automation South East University Nanjing China

The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not applicable to all manipulators. Another calibration method uses a camera, but the system error caused by the camera's parameters affects the calibration accuracy of the kinematics of the robot arm. Therefore, this paper proposes a method for calibrating the geometric parameters of a kinematic model of a manipulator based on monocular vision. Firstly, the classic Denavit-Hartenberg (D-H) modeling method is used to establish the kinematic parameters of the manipulator. Secondly, nonlinear optimization and parameter compensation are performed. The three-dimensional positions of the feature points of the calibration plate under each manipulator attitude corresponding to the actual kinematic model and the classic D-H kinematic model are mapped into the pixel coordinate system, and the sum of Euclidean distance errors of the pixel coordinates of the two is used as the objective function to be optimized. The experimental results show that the pixel deviation of the end pose corresponding to the optimized D-H kinematic model proposed in this paper and the end pose corresponding to the actual kinematic model in the pixel coordinate system is 0.99 pixels. Compared with the 7.9 deviation pixels between the pixel coordinates calculated by the classic D-H kinematic model and the actual pixel coordinates, the deviation is reduced by nearly 7 pixels for an 87% reduction in error. Therefore, the proposed method can effectively avoid system errors caused by camera parameters in visual calibration, can improve the absolute positioning accuracy of the end of the robotic arm, and has good economy and universality. Copyright © 2020, The Authors. All rights reserved.

关键词： Pixels

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Parity space-based model mismatch detection for linear discrete time-invariant systems with unknown disturbances

Parity space-based model mismatch detection for linear discr...

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第三十九届中国控制会议

作者： Yi Tang Dan Ling Hong Zhang Yanewei Wang Ying Zheng the Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology School of Electrical and Information Engineering Zhengzhou University of Light Industry School of Mechanical & Electrical Engineering Wuhan Institute of Technology

Model mismatch is one of the main factors of control performance degradation. In this paper, a new model mismatch detection approach with parity space-based methods is proposed for linear discrete time-invariant（LDTI） systems. This paper establishes a parity space-based residual evaluation function for the detection of model mismatch. The problem of parity space-based model mismatch is formulated on a state space model of a LDTI system. A standard evaluation function and its thresholds for the detection of model mismatch are proposed by providing the parity model-based residuals. It is shown the proposed approach results in an optimal fault detectability without any assumptions on the probability distribution of unknown disturbances. The effectiveness of the proposed methods is demonstrated by the simulation study of the paper machine head box control example.

关键词： Parity space Model mismatch detection LDTV systems model-based residual generation

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Adversarial refinement network for human motion prediction

arXiv

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arXiv 2020年

作者： Chao, Xianjin Bin, Yanrui Chu, Wenqing Cao, Xuan Ge, Yanhao Wang, Chengjie Li, Jilin Huang, Feiyue Leung, Howard City University of Hong Kong Hong Kong Hong Kong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Tencent Youtu Lab Shanghai China

Human motion prediction aims to predict future 3D skeletal sequences by giving a limited human motion as inputs. Two popular methods, recurrent neural networks and feed-forward deep networks, are able to predict rough motion trend, but motion details such as limb movement may be lost. To predict more accurate future human motion, we propose an Adversarial Refinement Network (ARNet) following a simple yet effective coarse-to-fine mechanism with novel adversarial error augmentation. Specifically, we take both the historical motion sequences and coarse prediction as input of our cascaded refinement network to predict refined human motion and strengthen the refinement network with adversarial error augmentation. During training, we deliberately introduce the error distribution by learning through the adversarial mechanism among different subjects. In testing, our cascaded refinement network alleviates the prediction error from the coarse predictor resulting in a finer prediction robustly. This adversarial error augmentation provides rich error cases as input to our refinement network, leading to better generalization performance on the testing dataset. We conduct extensive experiments on three standard benchmark datasets and show that our proposed ARNet outperforms other state-of-the-art methods, especially on challenging aperiodic actions in both short-term and long-term predictions. © 2020, CC-BY.

关键词： Errors

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The Design of Logic Gate Based on Triplex Structures 14th

The Design of Logic Gate Based on Triplex Structures

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14th International Conference on Bio-inspired Computing: Theories and Applications, BIC-TA 2019

作者： Hu, Yingxin Wang, Zhiyu Chen, Zhekun Liao, Sulin Huang, Yabing Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China School of Artificial Intelligence and Automation Huazhong University of Science and Technology WuhanHubei430074 China College of Information Science and Technology Shijiazhuang Tiedao University ShijiazhuangHebei050043 China School of Computer Science and Technology Huazhong University of Science and Technology WuhanHubei430074 China Department of Pathology Renmin Hospital of Wuhan University WuhanHubei430060 China

ISBN: (纸本)9789811534140

Molecular carch hotspots in the area of DNA nanotechnology due to its inherent large storage capacity, high parallelism, and energy efficiency. The assembled structures in the existing computing units mainly adopt a double-helix structure. However, besides duplex, DNA is known to adopt other helical forms such as triplex form. The triplex structure has introduced a novel paradigm into the DNA engineer owing to their unique characteristic sequence, structural and assembly requirements. Based on the assembly and disassembly of the triplex structure, a YES logic gate was constructed via strand displacement reaction. The experiment results showed that GC content and stem length would influence the displacement reaction. Then AND logic gate was also established through cooperative effect by two DNA strands. The construction of the cascading circuit indicated triplex-based logic gate could be integrated into larger circuits and enrich the toolbox of the computing devices. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Logic gates

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Mem Brain: An Easy-to-Use Online Webserver for Transmembrane Protein Structure Prediction

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Nano-Micro Letters 2018年第1期10卷 12-19页

作者： Xi Yin Jing Yang Feng Xiao Yang Yang Hong-Bin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Computer Science Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering

Membrane proteins are an important kind of proteins embedded in the membranes of cells and play crucial roles in living organisms, such as ion channels,transporters, receptors. Because it is difficult to determinate the membrane protein's structure by wet-lab experiments,accurate and fast amino acid sequence-based computational methods are highly desired. In this paper, we report an online prediction tool called Mem Brain, whose input is the amino acid sequence. Mem Brain consists of specialized modules for predicting transmembrane helices, residue–residue contacts and relative accessible surface area of a-helical membrane proteins. Mem Brain achieves aprediction accuracy of 97.9% of ATMH, 87.1% of AP,3.2 ± 3.0 of N-score, 3.1 ± 2.8 of C-score. Mem BrainContact obtains 62%/64.1% prediction accuracy on training and independent dataset on top L/5 contact prediction,respectively. And Mem Brain-Rasa achieves Pearson correlation coefficient of 0.733 and its mean absolute error of13.593. These prediction results provide valuable hints for revealing the structure and function of membrane *** Brain web server is free for academic use and available at ***/bioinf/Mem Brain/.

关键词： Transmembrane a-helices Structure prediction Machine learning Contact map prediction Relative accessible surface area

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Parameter training methods for convolutional neural networks with adaptive adjustment method based on Caputo fractional-order differences

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Chaos, Solitons and Fractals 2025年 199卷

作者： Zhao, Haiming Yang, Honggang Chen, Jiejie Jiang, Ping Zeng, Zhigang School of Computer and Information Engineering Hubei Normal University Huangshi435000 China School of Automation Wuhan University of Technology Wuhan430000 China School of Computer Hubei Polytechnic University Huangshi435000 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430000 China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430000 China

As deep learning technologies continue to permeate various sectors, optimization algorithms have become increasingly crucial in neural network training. This paper introduces two adaptive momentum algorithms based on Grünwald–Letnikov and Caputo fractional-order differences—Fractional Order Adagrad (FAdagrad) and Fractional Order Adam (FAdam)—to update parameters more flexibly by adjusting momentum information. Commencing from the definitions of fractional derivatives, we propose integrating fractional-order differences with gradient algorithms in convolutional neural networks (CNNs). These adaptive momentum algorithms, leveraging Grünwald–Letnikov and Caputo fractional-order differences, offer enhanced flexibility, thereby accelerating convergence. Our nonlinear parameter tuning method for CNNs demonstrates superior performance compared to traditional integer-order momentum algorithms and the standard Adam algorithm. Experimental results on the BraTS2021 dataset and CIFAR-100 dataset reveal that the proposed fractional-order optimization algorithms significantly outperform their integer-order counterparts in model optimization. They not only expedite convergence but also improve the accuracy of image recognition and segmentation. © 2025 Elsevier Ltd

关键词： Convolutional neural networks

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Manipulability and Robustness Optimization of the Cable-Driven Redundant Soft Manipulator

Manipulability and Robustness Optimization of the Cable-Driv...

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IEEE International Conference on Robotics and Biomimetics

作者： Yi Shen Yang Hong Wei Zhou Ruochen Tai Ye Yuan Han Ding School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan People’s Republic of China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan People’s Republic of China State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan People’s Republic of China

ISBN: (纸本)9781665405362

Redundancy makes soft manipulators manage to complete a variety of tasks in complex environments. However, a pseudo-inverse kinematics controller for redundant soft manipulators simply maximizes the manipulability while ignoring some material constraints, e.g., actuation saturation and control noise. As manipulability is the indicator for the dexterity of motion in all directions of the redundant soft manipulators, this work proposes an optimization based controller, where the manipulability and robustness are optimized for a cable-driven redundant soft manipulator to adapt actuation saturation and control noise. Experiments are conducted to demonstrate the effectiveness of the proposed controller.

关键词： Conferences Biomimetics Redundancy Kinematics Manipulators Robustness Trajectory

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A memristor-based generalization and differentiation circuit design and the application in recognition

A memristor-based generalization and differentiation circuit...

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Chinese control Conference (CCC)

作者： Meijia Shang Xiaoping Wang Mian Li School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Artificial Intelligence and Automation Huazhong University of Science and Technology and also with the Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

The traditional Pavlov associative memory circuit realizes the law of learning and forgetting in classical conditioned reflex. In addition, the law of generalization and differentiation also belongs to classical conditioned reflex, so the process of associative memory can be more effectively simulated by adding generalization and differentiation theory on the basis of traditional associative memory. In this paper, a memristor-based circuit is designed to implement generalization and differentiation based on Pavlov associative memory. The circuit can be applied to simple classification recognition. Based on the features of objects as input, the output of the circuit is used as the classification result to achieve the function of classification and recognition. Finally, the accuracy of classification recognition on the generalization and differentiation circuit proposed in this paper can be verified by the simulation results in PSPICE.

关键词： Neurons Threshold voltage Associative memory Dogs Memristors Logic gates Circuit synthesis

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Supervised Enhanced Soft Subspace Clustering (SESSC) for TSK Fuzzy Classifiers

arXiv

引用

arXiv 2020年

作者： Cui, Yuqi Wang, Huidong 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 School of Management Science and Engineering Shandong University of Finance and Economics Jinan250014 China

Fuzzy c-means based clustering algorithms are frequently used for Takagi-Sugeno-Kang (TSK) fuzzy classifier antecedent parameter estimation. One rule is initialized from each cluster. However, most of these clustering algorithms are unsupervised, which waste valuable label information in the training data. This paper proposes a supervised enhanced soft subspace clustering (SESSC) algorithm, which considers simultaneously the within-cluster compactness, between-cluster separation, and label information in clustering. It can effectively deal with high-dimensional data, be used as a classifier alone, or be integrated into a TSK fuzzy classifier to further improve its performance. Experiments on nine UCI datasets from various application domains demonstrated that SESSC based initialization outperformed other clustering approaches, especially when the number of rules is small. Copyright © 2020, The Authors. All rights reserved.

关键词： Fuzzy clustering

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