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International Joint Conference on Neural Networks

作者： Yangyang Chen Bao-Liang Lu Hai Zhao Department of Computer Science and Engineering and MOE-Microsoft Key Laboratory for Intelligent Computing and Intelligent Systems Shanghai Jiao Tong University

ISBN: (纸本)9781467314886

The study on pattern classification trends to be towards large-scale, multi-label, and imbalanced problems. The amount of the data which need to be classified is typically dozens of millions and it keeps rapid increasing in recent years. Traditional pattern classification approaches are inefficient and even ineffective in this situation. In our previous work, we proposed a min-max modular (M~3) network for dealing with large-scale and imbalanced problems. M~3-network is a generalized modular learning framework and includes three main steps: decomposing a large-scale problem into several smaller independent sub-problems, learning these sub-problems in parallel, and combining the results of the sub-problems to generate a solution to the original problem. In this paper, we embed LIBLINEAR into M~3-network (M3-liblnear) to deal with large-scale, multi-label, and imbanlanced pattern classification problems. LIBLINEAR is a fast implementation of a linear classifier. M~3-Liblinear uses LIBLINEAR as a base classifier to learn each of the sub-problems. We compare M~3-Liblinear with Liblinear-cdblock on a large-scale Japanese patent classification problem. Experimental results demonstrate that M~3-Liblinear is superior to Liblinearcd-block in both training time and generalization performance.

关键词： Min-max modular network Liblinear-cdblock Multi-label problem Imbalanced problem Pattern recognition large sizes Modularity Parallel Lines original problem

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Biped robot push detection and recovery

Biped robot push detection and recovery

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International Conference on Information and Automation (ICIA)

作者： Awais Yasin Qiang Huang Qian Xu Weimin Zhang Key Laboratory of Biomimetic Robots and Systems Key Laboratory of Intelligent Control & Decision of Complex Systems Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology Beijing P.R. China

This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference System (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.

关键词： Trajectory Legged locomotion Robot sensing systems Foot Robot kinematics Current measurement

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Backstepping based adaptive sliding mode control for spacecraft attitude maneuvers

Backstepping based adaptive sliding mode control for spacecr...

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UKACC International Conference on Control (CONTROL)

作者： Binglong Cong Xiangdong Liu Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467315593

This paper aims to address the robust control problem of rigid spacecraft attitude maneuvers in the presence of inertia matrix uncertainty and external disturbance. A back-stepping based adaptive sliding mode control (B-ASMC) design is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Compared to current adaptive sliding mode control (ASMC) design, the B-ASMC design has two advantages. Theoretically, the asymptotical stability of the attitude states rather than the sliding function is guaranteed. Practically, the over-adaptation problem in current ASMC design is alleviated and the system performance is improved. Detailed design principle and rigorous closed-loop system stability analysis are provided. A large angle attitude maneuver is employed in the numerical simulation to verify the effectiveness of the proposed algorithm.

关键词： Uncertainty Attitude control Algorithm design and analysis Switches Materials requirements planning Backstepping Space vehicles

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Adaptive sliding mode control for spacecraft attitude maneuvers with reduced or eliminated reaching phase

Adaptive sliding mode control for spacecraft attitude maneuv...

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UKACC International Conference on Control (CONTROL)

作者： Binglong Cong Xiangdong Liu Zhen Chen Key laboratory for Intelligent Control & Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

This paper aims to present an improved adaptive sliding mode control (ASMC) design for rigid spacecraft attitude maneuvers. An adaptive scheme is proposed for the switching gain calculation when the upper bound of the system uncertainty is unknown in advance. Unlike existing ASMC design, which may result in an over-adaptation of the upper bound when the initial system trajectory is located far from the sliding surface, this paper presents a novel ASMC strategy by introducing a decay term in the sliding function to reduce or eliminate the unrelated factor in the adaptation scheme. Consequently, a lower-chattering control signal is achieved. Simulation results are presented to illustrate the effectiveness of the proposed strategy.

关键词： Uncertainty Switches Algorithm design and analysis Materials requirements planning Attitude control Space vehicles Vectors

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Adaptive Graph Cut Based Binarization of Video Text Images

Adaptive Graph Cut Based Binarization of Video Text Images

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IAPR International Workshop on Document Analysis systems, DAS

作者： Cunzhao Shi Baihua Xiao Chunheng Wang Yang Zhang State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Interactive image segmentation which needs the user to give certain hard constraints has shown promising performance for object segmentation. In this paper, we consider characters in text image as a special kind of object, and propose an adaptive graph cut based text binarization method to segment text from background. The main contributions of the paper lie in: 1) in order to make the binarization local adaptive with uneven background, the text region image is firstly roughly split into several sub-images on which graph cut is applied, and 2) considering the unique characteristics of the text, we propose to automatically classify some pixels as text or background with high confidence, severed as hard constraints seeds for graph cut to extract text from background by spreading the seeds into the whole sub-image. The experimental results show that our approach could get better performance in both character extraction accuracy and recognition accuracy.

关键词： Image segmentation Image color analysis Image edge detection Character recognition Optical character recognition software Noise

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A hierarchical networked urban traffic signal control system based on multi-agent

A hierarchical networked urban traffic signal control system...

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IEEE International Conference on Networking, Sensing and Control

作者： Cheng Chen Zheng Jiang Li State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In this paper, we proposed an architecture of a hierarchical networked urban traffic signal control system Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control agents, which can move from device to device in a network. The system can reconfigure and replace these agents according to inconstant states of traffic environment and performances of agents. By this way, demand-based control is realized in traffic signal control system. Then we described the details and key technologies in the procession of agent-generation, agent-storage and agent-usage. At last, a prototype of the system is developed and basic functions of this system are tested by simulations. These simulations also confirm extensibility and effectiveness of the system.

关键词： Control systems Databases Organizations Vehicles Roads Mobile communication Aerospace electronics

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Graph-Based Background Suppression for Scene Text Detection

Graph-Based Background Suppression for Scene Text Detection

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IAPR International Workshop on Document Analysis systems, DAS

Detecting text in video or natural scene image is quite challenging due to the complex background, various fonts and illumination conditions. The preprocessing period, which suppresses the nontext areas so as to highlight the text areas, is the basis for further text detection. In this paper, a novel graph-based background suppression method for scene text detection is proposed. Considering each pixel as a node in the graph, our approach incorporates pixel-level and context-level features into a graph. Various factors contribute to the unary and pair wise cost function which is optimized via max-flow/min-cut algorithm [16] to get a binary image whose nontext pixels are suppressed so that text pixels are highlighted. Furthermore, the proposed background suppression method could be easily combined with other detection methods to improve the performance. Experimental results on ICDAR 2011 competition dataset show promising performance.

关键词： Image edge detection Cost function Image color analysis Text categorization Feature extraction Computer vision

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Inter-brain Mutual Information in Social Interaction Tasks

Inter-brain Mutual Information in Social Interaction Tasks

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International Workshop on Pattern Recognition in NeuroImaging (PRNI)

作者： Muhammad Naeem T.M. McGinnity David Watson Kongfatt Wong-Lin Girijesh Prasad J.A. Scott Kelso Intelligent Systems Research Centre School of Computing and Intelligent Systems University of Ulster Londonderry UK Human Brain and Behavior Laboratory Center for Complex Systems and Brain Sciences Florida Atlantic University Boca Raton FL USA

Using a dual EEG set-up, pairs of subjects jointly performed finger movement tasks under three conditions: intrinsic-ignore; in-phase - follow; and anti-phase - oppose their partner's movement patterns. Group ICA was employed for signal decomposition in the 10-12 Hz range. Mutual information across dyads was estimated in tasks relative to baseline. Results demonstrated information encoding (between partners) in the anti-phase was two times more than the intrinsic which in turn expressed twice as much information content as the more automatic in-phase task. Topography of significant components revealed involvement of the frontal brain region in the intrinsic; both frontal and occipital brain regions in anti-phase suggesting decision making and employment of visual resources in these tasks.

关键词： Mutual information Electroencephalography Humans Encoding Analysis of variance Educational institutions Fingers

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Maximum volume clustering: a new discriminative clustering approach

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2013年第1期14卷

作者： Kevin Murphy Bernhard Schölkopf Gang Niu Bo Dai Lin Shang Masashi Sugiyama Google MPI for Intelligent Systems Department of Computer Science Tokyo Institute of Technology Tokyo Japan College of Computing Georgia Institute of Technology Atlanta GA State Key Laboratory for Novel Software Technology Nanjing University Nanjing China

The large volume principle proposed by Vladimir Vapnik, which advocates that hypotheses lying in an equivalence class with a larger volume are more preferable, is a useful alternative to the large margin principle. In this paper, we introduce a new discriminative clustering model based on the large volume principle called maximum volume clustering (MVC), and then propose two approximation schemes to solve this MVC model: A soft-label MVC method using sequential quadratic programming and a hard-label MVC method using semi-definite programming, respectively. The proposed MVC is theoretically advantageous for three reasons. The optimization involved in hard-label MVC is convex, and under mild conditions, the optimization involved in soft-label MVC is akin to a convex one in terms of the resulting clusters. Secondly, the soft-label MVC method possesses a clustering error bound. Thirdly, MVC includes the optimization problems of a spectral clustering, two relaxed k-means clustering and an information-maximization clustering as special limit cases when its regularization parameter goes to infinity. Experiments on several artificial and benchmark data sets demonstrate that the proposed MVC compares favorably with state-of-the-art clustering methods.

关键词： clustering error bound discriminative clustering finite sample stability large volume principle semi-definite programming sequential quadratic programming

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and Control Engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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