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17th International Conference on Intelligent Robotics and Applications, ICIRA 2024

作者： Zhao, Yujia Zou, Chunlong Yun, Juntong Jiang, Du Huang, Li Liu, Ying Jiang, Guozhang Xie, Yuanmin Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China College of Mechanical Engineering Hubei University of Automotive Technology Shiyan442000 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan430081 China College of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

sEMG (surface electromyography) signal control of bionic prostheses has been widely studied over the past few years. In particular, sparse sEMG signals are rapidly developing in the field of gesture recognition for their convenience, noninvasiveness, and ease of access. However, compared with high-density EMG signals, sparse EMG signals lack rich feature information, which in turn affects gesture recognition accuracy. In order to reduce the loss of feature information of sparse EMG signals in the spatio-temporal dimension, this paper proposes a hybrid neural network Res-LSTM combining residual network and long short-term memory network. The ordinary convolutional blocks in the CNN network are replaced with residual blocks, and the final fully connected layer is removed and a constant mapping layer is added to adequate extraction of spatial feature information of the data. The Res layer’s output is utilized as the input for the long and short-term memory (LSTM) network, which further extracts the features of the data in the temporal dimension, and finally completes the categorization output through a fully connected layer. The average accuracy of 91.11% for gesture-motion classification was verified by training on a homebrew dataset;and tested on a public dataset, NinaPro DB1, with an average accuracy of 91.03%. The experimental findings indicate that the proposed Res-LSTM network framework contributes to solving the problem of lack of feature information of sparse sEMG signals and improves the pattern recognition accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Gesture recognition

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Open Set Radar HRRP Recognition Using Confidence through Neural Weight Proximity

Open Set Radar HRRP Recognition Using Confidence through Neu...

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Signal, information and Data processing (ICSIDP), IEEE International Conference on

作者： Yichen Liu Ping-An Liu Liang Zhang Yanhua Wang Zengdi Bao Yinhui Xu Radar Technology Research Institute Beijing Institute of Technology Beijing China Beijing Key Laboratory of Embedded Real-Time Information: Processing Technology Beijing China Chongqing Innovation Center Beijing Institute of Technology China Xi’an Modern Control Technology Research Institute Xi’an China Zhengzhou Research Institute Beijing Institute of Technology Zhengzhou China

ISBN: (数字)9798331515669

ISBN: (纸本)9798331515676

High-resolution range profiles (HRRP) have become increasingly important in radar automatic target recognition (RATR) due to their ability to capture detailed structural features of targets. In practical RATR scenarios, the operational environment is open and dynamic, often exposing models to targets belonging to previously unseen categories. This underscores the necessity for open-set recognition (OSR) methods that can effectively distinguish both known and unknown targets. Theoretically, there exists a distributional discrepancy between the feature representations of known and unknown categories in deep learning models. By designing a suitable confidence calculation method that leverages this discrepancy, it becomes possible to accurately identify whether a given sample belongs to a known or an unknown category. Inspired by the Neural Collapse theory, we observe that deep features representing known categories tend to cluster tightly around the weight vectors of the final layer, whereas features from unknown categories are typically more scattered and lie farther away. Building on this observation, we propose a confidence measure that is determined by the proximity of a feature to the weight vectors of the final classification layer. Samples with confidence values below a defined threshold are classified as unknown, which forms the fundamental mechanism of our open-set detector. Our approach is versatile, making it applicable to a variety of network architectures and adaptable to different feature distance metrics. Extensive experiments conducted on HRRP data confirm the efficacy of our proposed method for open-set recognition, demonstrating its ability to reliably distinguish between known and unknown targets under diverse conditions.

关键词： Measurement Deep learning Weight measurement Training Target recognition Radar Network architecture Vectors Radar signal processing Reliability

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Surpass Teacher: Enlightenment Structured Knowledge Distillation of Transformer

Surpass Teacher: Enlightenment Structured Knowledge Distilla...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ran Yang Chunhua Deng School of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan China

It is difficult to train a trustworthy transformer model on a small image classification dataset. This research proposes a sophisticated structured knowledge distillation algorithm that uses CNNs as Transformer's sophisticated teachers, significantly lowering the number of training datasets needed. To better to develop the potential for CNN tutors, this research configures a public data set for CNN teaching as an enlightenment textbook to guide Transformer's training and avoid falling into local optimization prematurely. The distillation process then employs a “learn-digest-self-distillation” learning strategy to enable the Transformer to assimilate CNN knowledge in a structured manner. Sufficient experiments show that the proposed method is significantly better than the direct training Transformer under the condition of limited data sets. Moreover, in order to show the practical application value, this research contributed a practical data set for the classification of smoking and calling. The corresponding code and dataset will be released at https://***/wustdch/surpass-teacher if this paper is accepted.

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A Study on Semi-Supervised Semantic Segmentation of Ship Flame Images

A Study on Semi-Supervised Semantic Segmentation of Ship Fla...

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International Conference on Parallel and Distributed Systems (ICPADS)

作者： Junwei Wan Yaojie Chen XueCong Zheng Department of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan China

In addressing the challenges of limited semantic labeling data and imprecise segmentation regions prevalent in the semantic segmentation of ship flame images, this study introduces a semi-supervised semantic segmentation method tailored for ship flame images. This approach is grounded in the principles of pairwise similarity with strong-weak perturbations. Adopting a pseudo-label self-learning strategy, the method employs weak-strong perturbation pairwise similarity, ensuring the propagation of high-confidence predictions during label generation, and thereby enhancing performance. Additionally, to tackle the inherent difficulties presented by smoke enveloping and obscuring flame regions in ship images, we have conceived a Vertical Continuity Feature Enhancement module. This module empowers the model to discern more explicit inter-class boundaries. Empirical evaluations on our proprietary dataset substantiate the superiority of our method, registering an improvement of 4.12 percentage points in mIoU over other semi-supervised approaches. Such results attest to the efficacy of the proposed pairwise similarity approach and the Vertical Continuity Feature Enhancement module in flame semantic segmentation.

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Two-Sided Online Task Assignment Based on Worker Portraits in Mobile CrowdSensing

Two-Sided Online Task Assignment Based on Worker Portraits i...

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International Conference on Computer Supported Cooperative Work in Design

作者： Zhenyang Mao Peng Li Guangzhong Liao Lei Nie Haizhou Bao Qin Liu School of Computer Science and Technology Wuhan University of Science and Technology China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System China School of Cyber Science and Engineering Wuhan University China

ISBN: (数字)9798350349184

ISBN: (纸本)9798350349191

Task assignment is a challenging problem in mobile crowdsensing (MCS), especially since workers and tasks are online. Existing work does not consider the portrait of the workers when assigning tasks, which may result in workers being assigned to fields they are not familiar with, thus affecting the quality of task completion. In this paper, we focus on online scenarios and identify a more practical task assignment problem, a two-sided (workers and tasks) online task assignment problem based on worker portrait in MCS. We decompose this problem into two subproblems: the worker portrait analysis problem (WPA) and the two-sided online personalized assignment problem (TOPA). To solve the WPA problem, we propose a worker portrait analysis algorithm that uses the semi-supervised model to describe the worker portrait at a fine-grained level. Then, based on the worker portrait, we propose a two-sided online personalized assignment algorithm to solve the TOPA problem. The proposed algorithm guarantees a lower bound on the assignment results by analyzing the worker portrait data. Moreover, we prove the TOPA problem is NP-hard and demonstrate the competitive ratio can achieve ln(max(u i,j )+1). Finally, we conduct extensive experiments on two datasets, and the experimental results show that our method outperforms baseline algorithms.

关键词： Analytical models Crowdsensing Federated learning Task analysis Synthetic data

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Spatio-Temporal Transformer-Based Reinforcement Learning for Robot Crowd Navigation

arXiv

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arXiv 2023年

作者： He, Haodong Fu, Hao Wang, Qiang Zhou, Shuai Liu, Wei The School of Computer Science and Technology Wuhan University of Science and Technology China The Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan430081 China

The social robot navigation is an open and challenging problem. In existing work, separate modules are used to capture spatial and temporal features, respectively. However, such methods lead to extra difficulties in improving the utilization of spatio-temporal features and reducing the conservative nature of navigation policy. In light of this, we present a spatio-temporal transformer-based policy optimization algorithm to enhance the utilization of spatio-temporal features, thereby facilitating the capture of human-robot interactions. Specifically, this paper introduces a gated embedding mechanism that effectively aligns the spatial and temporal representations by integrating both modalities at the feature level. Then Transformer is leveraged to encode the spatio-temporal semantic information, with hope of finding the optimal navigation policy. Finally, a combination of spatio-temporal Transformer and self-adjusting policy entropy significantly reduces the conservatism of navigation policies. Experimental results demonstrate the effectiveness of the proposed framework, where our method shows superior performance. © 2023, CC BY.

关键词： Navigation

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Sparse View HRRP Recognition Based on Dual-Task of Generation and Recognition Method

Sparse View HRRP Recognition Based on Dual-Task of Generatio...

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Signal, information and Data processing (ICSIDP), IEEE International Conference on

作者： Yuanhao Meng Lue Wang Qiang Zhou Xin Zhang Liang Zhang Yanhua Wang Radar Technology Research Institute Beijing Institute of Technology Beijing China Xi'an Modern Control Technology Research Institute Xi'an China Zhengzhou Academy of Intelligent Technology Beijing Institute of Technology Zhengzhou China Beijing Key Laboratory of Embedded Real-Time Information: Processing Technology Beijing China Chongqing Innovation Center Beijing Institute of Technology China

ISBN: (数字)9798331515669

ISBN: (纸本)9798331515676

In recent years, high-resolution range profiles (HRRPs) have played a significant role in radar target recognition. The pose sensitivity of HRRPs results in unsatisfactory target recognition capabilities under sparse viewing angles. However, for non-cooperative targets, obtaining full-view HRRPs is often challenging, leading to suboptimal performance in HRRP-based target recognition. To address the issue of target recognition under sparse viewing angles, we propose an end-to-end model DGR for sparse view recognition that integrates combined generation and recognition tasks. The DGR model extracts deep features of HRRPs through an attention mechanism and utilizes these features for both target recognition and the generation of adjacent-view HRRPs, with both tasks mutually reinforcing each other for improved performance in recognition and data generation. Furthermore, by employing domain adaptation methods, the model learns the variability of target HRRPs in the source domain and applies this knowledge to the target domain, enhancing its generalization ability. Experimental results demonstrate that the DGR model achieves optimal recognition and generation capabilities simultaneously.

关键词： Adaptation models Sensitivity Target recognition Radar Data collection Feature extraction Generative adversarial networks Data augmentation Data models Data mining

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Open Set HRRP Recognition Using Adaptive Learning with Enclosed Decision Boundaries

Open Set HRRP Recognition Using Adaptive Learning with Enclo...

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Signal, information and Data processing (ICSIDP), IEEE International Conference on

作者： Binhua Yu Ping-An Liu Yichen Liu Hongyu Wang Liang Zhang Yanhua Wang Kun Liu Radar Technology Research Institute Beijing Institute of Technology Beijing China Xi’an Modern Control Technology Research Institute Xi’an China Zhengzhou Academy of Intelligent Technology Beijing Institute of Technology Zhengzhou China Beijing Key Laboratory of Embedded Real-Time Information: Processing Technology Beijing China Chongqing Innovation Center Beijing Institute of Technology Chongqing China

ISBN: (数字)9798331515669

ISBN: (纸本)9798331515676

High resolution range profiles (HRRP), which contain fine geometric structure information of targets, plays animportant role in the field of Radar automatic target recognition (RATR). In the actual application of RATR, radar may often capture targets that are non-cooperative, making it difficult to establish a comprehensive database, and traditional recognition algorithms are prone to misjudgment when facing unknown targets. Therefore, Open set recognition (OSR) is proposed to simultaneously recognize in-database and out-of-database targets. Considering the pose sensitivity of HRRP, minor changes in the target’s pose can cause significant changes in the HRRP images, leading to a potentially dispersed distribution of samples from the same category in the feature space, which makes it difficult for traditional fixed decision boundaries in OSR to adapt. To address this, this paper proposes an HRRP open set recognition method capable of adaptively learning closed decision boundaries. Based on Hierarchical dirichlet processes (HDP), the method achieves adaptive clustering of subclasses under different categories according to the data distribution characteristics of each category, determining multiple small decision boundaries within each category, and allowing the decision boundaries to dynamically adjust according to the sample features. Finally, experiments with real HRRP data have verified the effectiveness of the proposed method.

关键词： Training Sensitivity Image resolution Image recognition Target recognition Databases Imaging Radar applications Signal resolution Dispersion

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Lightweight CNN for Radar HRRP Recognition Using NAS-Based Pruning and Multi-Knowledge Distillation

Lightweight CNN for Radar HRRP Recognition Using NAS-Based P...

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Signal, information and Data processing (ICSIDP), IEEE International Conference on

作者： Zhilong Zhang Heke Wu Yinhui Xu Liang Zhang Yanhua Wang Radar Technology Research Institute Beijing Institute of Technology Beijing China Zhengzhou Academy of Intelligent Technology Beijing Institute of Technology Zhengzhou China Xi'an Modern Control Technology Research Institute Xi'an China Beijing Key Laboratory of Embedded Real-time Information Processing Technology Beijing China Chongqing Innovation Center Beijing Institute of Technology Chongqing China

ISBN: (数字)9798331515669

ISBN: (纸本)9798331515676

Deep convolutional neural network (CNN) has been widely studied in radar target high resolution range profile (HRRP) recognition. However, the CNN with deep structure requires high storage and computational capabilities, thus restricting its applications with limited resources. In this paper, we propose a differentiable neural architecture search (NAS)-based channel pruning and multi-knowledge distillation (MKD) to prune and fine-tune the CNN for lightweight. In the pruning stage, NAS method is used to automatically find the good-performance pruning structure by optimizing channel preserve scores. After the search process, these scores are used for global pruning to derive the pruned model. In the fine-tuning stage, MKD method combine the physical scattering knowledge with the category knowledge from pretrained model to restore the pruned model performance. Experimental results on VGG-16 with HRRP dataset inversed from the MSTAR show that the recognition accuracy of the proposed method decreases 1.52% by using 5% model parameters.

关键词： Accuracy Target recognition Neural networks Scattering Radar Data processing Data models Neural architecture search Convolutional neural networks

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Generating Manipulation Sequences using Reinforcement Learning and Behavior Trees for Peg-In-Hole Task

Generating Manipulation Sequences using Reinforcement Learni...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Xu, Jiahua Lin, Yunhan Zhou, Haotian Min, Huasong Wuhan University of Science and Technology College of Computer Science and Technology Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan430065 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Reinforcement Learning (RL), a method of learning skills through trial-and-error, has been successfully used in many robotics applications in recent years. We combine manipulation primitives (MPs), behavior trees (BTs), and reinforcement learning to propose an algorithm for peg-in-hole tasks, which speeds up the convergence of the RL model and enhance the adaptability of the dynamic environment. Manipulation primitives are used as actions for RL, which can reduce the gap between control instruction and robotic actions and speed up the convergence of the RL model. Behavior trees are used as robot behavior control, which makes robots can actively adapt to the changes in the environment. In experiments, RL-BT, from the combination of RL and BT, is designed for the peg-in-hole task in the Gazebo simulation environment by using UR5 as the actuator. The experiments are conducted on a simple peg and a complex multi-hole peg by three aspects, which include convergence speed verification experiment, adaptability of dynamic environment experiment, and algorithm robustness experiment. The experiment result proves that our RL-BT can speed up the convergence and adapt to the changes in the environment. © 2022 IEEE.

关键词： Reinforcement learning

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