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IEEE International Symposium on Parallel and Distributed Processing with Applications and IEEE International Conference on Ubiquitous computing and Communications (ISPA/IUCC)

作者： Xuanwei Lin Chen Dong Ximeng Liu College of Computer and Data Science Fuzhou University Fujian Key Laboratory of Network Computing and Intelligent Information Processing (Fuzhou University) Key Lab of Information Security of Network Systems (Fuzhou University)

Many recent works have shown that spiking neural networks (SNNs) are vulnerable to well-crafted adversarial attacks in the white-box setting, which may lead to misclassification of the trained model. However, the information about the model is in a black-box setting and is usually unknown to the attacker, e.g., the parameters and structure of the model. So it is more challenging to counter the attack in the black-box setting, and there is still little research on this aspect in SNNs. Therefore, this work describes a transfer-based black box adversarial attack against spike feature space representations, providing insights for robust spike features in SNNs models. The attack is explicitly designed to be transferable, and more robust feature gradients are obtained by accumulating the feature gradients of the intermediate layers. Then we can successfully attack the black-box model by suppressing robust positive features and enhancing negative features. Extensive experimental evaluation demonstrates the proposed method’s effectiveness and superior performance on static and neuromorphic datasets. i.e., The attack success is 89.72% and 90% on the static MNIST and CIFAR10 datasets, and 85.97% and 69.09% on the neuromorphic N-MNIST and CIFARO-DVS datasets.

关键词： Correlation Neuromorphics Neural networks Closed box Ubiquitous computing Optimization Glass box

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Novel PIO Algorithm with Multiple Selection Strategies for Many-Objective Optimization Problems

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complex System Modeling and Simulation 2021年第4期1卷 291-307页

作者： Zhihua Cui Lihong Zhao Youqian Zeng Yeqing Ren Wensheng Zhang Xiao-Zhi Gao School of Computer Science and Technology Taiyuan University of Science and TechnologyTaiyuan 030024China School of Cyberspace Security Beijing University of Posts and TelecommunicationsBeijing 100876China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Computing University of Eastern FinlandKuopioFI-70211Finland

With the increase of problem dimensions,most solutions of existing many-objective optimization algorithms are ***,the selection of individuals and the retention of elite individuals are *** algorithms cannot provide sufficient solution precision and guarantee the diversity and convergence of solution sets when solving practical many-objective industrial ***,this work proposes an improved many-objective pigeon-inspired optimization(ImMAPIO)algorithm with multiple selection strategies to solve many-objective optimization *** selection strategies integrating hypervolume,knee point,and vector angles are utilized to increase selection pressure to the true Pareto ***,the accuracy,convergence,and diversity of solutions are *** is applied to the DTLZ and WFG test functions with four to fifteen objectives and compared against NSGA-III,GrEA,MOEA/D,RVEA,and many-objective Pigeon-inspired optimization *** results indicate the superiority of ImMAPIO on these test functions.

关键词： pigeon-inspired optimization algorithm many-objective optimization problem multiple selection strategy elite individual retention

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A Review of Recent Advances in Coordination Between Unmanned Aerial and Ground Vehicles

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无人系统（英文） 2021年第2期9卷 97-117页

作者： Yulong Ding Bin Xin Jie Chen School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Peng Cheng Laboratory Shenzhen 518055P.R.China School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081P.R.China

Coordination between unmanned aerial vehicles(UAVs)and unmanned ground vehicles(UGVs)has received increasing attention in recent *** list of successful applications of UAV-UGV coordination systems is growing and demonstrates that UAV-UGV coordination can provide real-world solutions that other types of coordination cannot *** paper systematically reviews the advances in UAV-UGV coordination systems during the period of 2015-2020 and offers a comprehensive investigation and analysis of the recent ***,the essential elements in the UAV-UGV coordination systems are analyzed,and four key functional roles are *** close collaboration among functional roles can achieve the UAV-UGV coordination on perception,task,and *** the perspective of functional roles,UAV-UGV coordination systems can be further classified into eight *** functional-role-based category pro-vides novel insights into analyzing various patterns of UAV-UGV *** paper also discusses the challenges related to UAV-UGV coordination.

关键词： UAV-UGV coordination systems air-ground collaboration unmanned aerial vehicle unmanned ground vehicle

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Modulating Biological Rhythms: A Noncomputational Strategy Harnessing Nonlinearity and Decoupling Frequency and Amplitude

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Physical Review Letters 2023年第13期131卷 138401-138401页

作者： Zhaoyue Zhong (仲昭月) Wei Lin (林伟) Bo-Wei Qin (秦伯韡) School of Mathematical Sciences and Shanghai Center for Mathematical Sciences Fudan University 200433 Shanghai China Research Institute of Intelligent Complex Systems Fudan University 200433 Shanghai China Shanghai Artificial Intelligence Laboratory 200232 Shanghai China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institute of Brain Science Fudan University 200032 Shanghai China

Understanding and achieving concurrent modulation of amplitude and frequency, particularly adjusting one quantity and simultaneously sustaining the other at an invariant level, are of paramount importance for complex biophysical systems, including the signal pathway where different frequency indicates different upstream signal yielding a certain downstream physiological function while different amplitude further determines different efficacy of a downstream output. However, such modulators with clearly described and universally valid mechanisms are still lacking. Here, we rigorously propose an easy-to-use control strategy containing only one or two steps, leveraging the nonlinearity in the modulated systems to decouple frequency and amplitude in a noncomputational manner. The strategy’s efficacy is demonstrated using representative biochemical systems and, thus, it could be potentially applicable to modulating rhythms in experiments of biochemistry and synthetic biology.

关键词： Biomolecular dynamics Control theory Emergent biological functions from complex interactions Dynamical systems Gene regulatory networks Bifurcation analysis Phase space dynamics

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What will regularized continuous learning performs if it was used to medical image segmentation: a preliminary analysis

What will regularized continuous learning performs if it was...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Weihao Dai Chaolu Feng Shuaizheng Chen Wei Li Jinzhu Yang Dazhe Zhao College of Computer Science and Engineering Northeastern University Shenyang China Key Laboratory of Intelligent Computing in Medical Image (MIIC) Ministry of Education Shenyang China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Shenyang China

Regularization-based continuous learning (RCL) has been proven to be highly effective on struggling against catastrophic forgetting. However, its application in medical image segmentation (MIS) is relatively scarce. In this paper, we provide a unified description of 6 RCL methods (LwF, LwM, EWC, SI, MAS, and PIGWM) using Taylor expansion and investigate their performances in 2 classic MIS scenarios, namely retinal vessel segmentation (RVS) and cardiac left ventricle segmentation (CLVS) on 8 datasets (CHASE, DRHAGIS, RITE and STARE for the former and M&Ms, LVSC, ACDC and SCD for the latter). We also explore the influence of different task orders (easy to hard or hard to easy), optimizers (Adam or SGD), and parameter capacities (2, 3, 4 or 5 down- and up-sampling pairs) on the performance of these methods. Our experimental results show that these methods are capable of mitigating catastrophic forgetting to a certain extent. Comparing to a hard-to-easy order, most of the methods perform better on all of the already known tasks in an easy-to-hard order. Optimizer Adam performs better on RVS and CLVS. Capacity increases are obviously effective for CLVS, but they have no significant impact on RVS.

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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IEEE International Conference on Real-time computing and Robotics (RCAR)

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Distributed Cooperative Search Method for Multi-Uav with Unstable Communications

SSRN

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SSRN 2023年

作者： Zhang, Huaqing Ma, Hongbin Mersha, Bemnet Wondimagegnehu Zhang, Xiaofei Jin, Ying School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing100081 China School of Vehicle and Mobility Tsinghua University Beijing100084 China

In search-attack and search-rescue tasks performed by multi-UAV, cooperative search plays an important part. The majority of approaches in use today assume that the UAV swarm's communication network is complete. However, these links are susceptible to environmental changes or adversary interference. Aiming at cooperative search in search-attack and search-rescue tasks, we propose a distributed cooperative search method for multi-UAV with unstable communications (DCS-UC), which is developed based on ant colony optimization (ACO). In this method, three algorithms are presented to enable the UAV swarm to conduct online cooperative search efficiently and safely. Firstly, an algorithm of pheromone matrix consensus update used in ACO is designed under switching and connected topology graphs, which can make the pheromone matrix maintained by each UAV achieve consensus, so that the cooperative efficiency of the UAV swarm is improved. Then, a position consensus update algorithm is presented where the position vector, including the positions of all the UAVs in each UAV, can achieve consensus under switching and connected topology graphs. Finally, to tackle the collision avoidance of all the UAVs, an algorithm of collision avoidance between UAVs is designed by using the obtained consistent positions of all the UAVs, which can make the UAV swarm conduct cooperative search safely. Extensive physical simulation results carried out in Gazebo verify the advantages of our multi-UAV cooperative search method. © 2023, The Authors. All rights reserved.

关键词： Ant colony optimization

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Dynamics Modeling Method of Offshore Drilling Experimental System Based on Double-Layer Stewart Parallel Mechanism

Dynamics Modeling Method of Offshore Drilling Experimental S...

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Chinese Control Conference (CCC)

作者： Chenxuan Wang Zhejiaqi Ma Chengda Lu Sheng Du Min Wu School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Automation China University of Geosciences Wuhan China

Establishing the dynamics model of the offshore drilling experimental system can better complete the offshore drilling test in the laboratory environment and reduce the cost of testing. A dynamical modeling method for the offshore drilling experimental system built on the double-layer Stewart parallel mechanism is proposed. Firstly, the kinematic and dynamical characteristics of the double-layer Stewart parallel mechanism are combined with the Lagrange method and the virtual work method to establish the dynamics model of the mechanism. Then a parameter identification scheme is designed using a nonlinear gray system estimation method based on the trust-domain reflection algorithm, and the model parameters are identified. The model is downscaled to improve the feasibility of the identification scheme and the accuracy of the identified parameters. The actual experimental system data verify this model's correctness and the model parameters' accuracy.

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RNTrajRec: Road Network Enhanced Trajectory Recovery with Spatial-Temporal Transformer

arXiv

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arXiv 2022年

作者： Chen, Yuqi Zhang, Hanyuan Sun, Weiwei Zheng, Baihua School of Computer Science Shanghai Key Laboratory of Data Science Fudan University China Shanghai Institute of Intelligent Electronics & Systems China School of Computing and Information Systems Singapore Management University Singapore

GPS trajectories are the essential foundations for many trajectory-based applications, such as travel time estimation, traffic prediction and trajectory similarity measurement. Most applications require a large number of high sample rate trajectories to achieve a good performance. However, many real-life trajectories are collected with low sample rate due to energy concern or other constraints. We study the task of trajectory recovery in this paper as a means to increase the sample rate of low sample trajectories. Currently, most existing works on trajectory recovery follow a sequence-to-sequence diagram, with an encoder to encode a trajectory and a decoder to recover real GPS points in the trajectory. However, these works ignore the topology of road network and only use grid information or raw GPS points as input. Therefore, the encoder model is not able to capture rich spatial information of the GPS points along the trajectory, making the prediction less accurate and lower spatial consistent. In this paper, we propose a road network enhanced transformer-based framework, namely RNTrajRec, for trajectory recovery. RNTrajRec first uses a graph model, namely GridGNN, to learn the embedding features of each road segment. It next develops a spatial-temporal transformer model, namely GPSFormer, to learn rich spatial and temporal features along with a Sub-Graph Generation module to capture the spatial features for each GPS point in the trajectory. It finally forwards the outputs of encoder model to a multi-task decoder model to recover the missing GPS points. Extensive experiments based on three large-scale real-life trajectory datasets confirm the effectiveness of our approach. Copyright © 2022, The Authors. All rights reserved.

关键词： Recovery

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Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm

Design of a curled hyper-redundant manipulator and the motio...

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第35届中国控制与决策会议

作者： Aoshun Zhang En Li Feng Zhang Rui Guo Mingrui Luo Yuwei Zhang School of Artificial Intelligence University of Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Engineering Laboratory for Intelligent Industrial Vision CAS State Grid Intelligent Technology Co.Ltd. State Grid Shandong Electric Power Company Jinan Power Supply Company

In order to meet the operational needs in some narrow environments,the hyper-redundant snake-shaped manipulator has received extensive attention and has been widely studied due to its compact shape and multiple degrees of *** present,the research of hyper-redundant manipulator mainly focuses on the straight push *** the limitation of working space,this paper designed a hyper-redundant manipulator delivered by a curled *** to the characteristics of turntable delivery,a tip-following algorithm based on curve fitting and a tip-following strategy based on terminal posture record are ***,with the algorithm applied to the physical robot we made,we successfully realized the tipfollowing motion control of the hyper-redundant manipulator.

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