检索结果-内蒙古大学图书馆

MBGD-RDA Training and Rule Pruning for Concise TSK Fuzzy Regression Models

学校读者我要写书评

暂无评论

arXiv 2020年

作者： 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

To effectively train Takagi-Sugeno-Kang (TSK) fuzzy systems for regression problems, a Mini-Batch Gradient Descent with Regularization, DropRule, and AdaBound (MBGD-RDA) algorithm was recently proposed. It has demonstrated superior performances;however, there are also some limitations, e.g., it does not allow the user to specify the number of rules directly, and only Gaussian MFs can be used. This paper proposes two variants of MBGD-RDA to remedy these limitations, and show that they outperform the original MBGD-RDA and the classical ANFIS algorithms with the same number of rules. Furthermore, we also propose a rule pruning algorithm for TSK fuzzy systems, which can reduce the number of rules without significantly sacrificing the regression performance. Experiments showed that the rules obtained from pruning are generally better than training them from scratch directly, especially when Gaussian MFs are used. Copyright © 2020, The Authors. All rights reserved.

关键词： Gradient methods

Early Forest Fire Segmentation Based on Deep Learning

学校读者我要写书评

暂无评论

Early Forest Fire Segmentation Based on Deep Learning

Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS), CAA Symposium on

作者： Mengna Li Youmin Zhang Jing Xin Lingxia Mu Ziquan Yu Han Liu Guo Xie Shangbin Jiao Yingmin Yi Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an Shaanxi China Concordia University Montreal Quebec Canada College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 211106 China

ISBN: (纸本)9781665401166

Fire segmentation is very important for fire rescue. It can make firefighters get the information on fire area, spread direction and so on, and then help them make quick and effective fire-fighting plan. Therefore, this paper proposes an early forest fire segmentation algorithm based on a deep learning model, named F-Unet, which mainly uses the architecture idea of Unet for reference. F-Unet consists of contraction path, feature fusion layer and expansion path. The contraction path is composed of the first 13 layers of VGG16, which is used to obtain feature maps with different scales. In order to improve the segmentation accuracy of the model, the feature fusion network proposed in this paper is added to the Unet architecture to fuse these feature maps with different scales. The expansion path is used for upsampling these feature maps to restore the size of the original input image and obtain the fire segmentation results. The experimental testing results on the FLAME dataset show that F-Unet can significantly improve the fire segmentation precision, and also prove that the proposed feature fusion network is effective to improve the performance of fire segmentation.

关键词： Deep learning image segmentation Fuses Fault detection Fires Forestry Safety

Multi-Level temporal pyramid network for action detection

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Wang, Xiang Gao, Changxin Zhang, Shiwei Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology China DAMO Academy Alibaba Group

Currently, one-stage frameworks have been widely applied for temporal action detection, but they still suffer from the challenge that the action instances span a wide range of time. The reason is that these one-stage detectors, e.g., Single Shot Multi-Box Detector (SSD), extract temporal features only applying a single-level layer for each head, which is not discriminative enough to perform classification and regression. In this paper, we propose a Multi-Level Temporal Pyramid Network (MLTPN) to improve the discrimination of the features. Specially, we first fuse the features from multiple layers with different temporal resolutions, to encode multi-layer temporal information. We then apply a multi-level feature pyramid architecture on the features to enhance their discriminative abilities. Finally, we design a simple yet effective feature fusion module to fuse the multi-level multi-scale features. By this means, the proposed MLTPN can learn rich and discriminative features for different action instances with different durations. We evaluate MLTPN on two challenging datasets: THUMOS14 and Activitynet v1.3, and the experimental results show that MLTPN obtains competitive performance on Activitynet v1.3 and outperforms the state-of-the-art approaches on THUMOS14 significantly. Copyright © 2020, The Authors. All rights reserved.

关键词： Feature extraction

Monocular visual–inertial SLAM algorithm combined with wheel speed anomaly detection

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Gang, Peng Zezao, Lu Shanliang, Chen Bocheng, Chen Dingxin, He Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

To address the weak observability of monocular visual–inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed odometer pre-integration method to add the wheel speed measurement to the least-squares problem in a tightly coupled manner. For abnormal motion situations, such as skidding and abduction, this paper adopts the Mecanum mobile chassis control method, based on torque control. This method use the motion constraint error to estimate the reliability of the wheel speed measurement. At the same time, in order to prevent incorrect chassis speed measurements from negatively influencing robot pose estimation, this paper uses three methods to detect abnormal chassis movement and analyze chassis movement status in real time. When the chassis movement is determined to be abnormal, the wheel odometer pre-integration measurement of the current frame is removed from the state estimation equation, thereby ensuring the accuracy and robustness of the state estimation. Experimental results show that the accuracy and robustness of the method in this paper are better than those of a monocular visual–inertial odometer. Copyright © 2020, The Authors. All rights reserved.

关键词： Anomaly detection

Single upper limb pose estimation method based on improved stacked hourglass network

学校读者我要写书评

暂无评论

arXiv 2020年

作者： Peng, Gang Zheng, Yuezhi Li, Jianfeng Yang, Jin Deng, Zhonghua Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

At present, most high-accuracy single-person pose estimation methods have high computational complexity and insufficient real-time performance due to the complex structure of the network model. However, a single-person pose estimation method with high real-time performance also needs to improve its accuracy due to the simple structure of the network model. It is currently difficult to achieve both high accuracy and real-time performance in single-person pose estimation. For use in human–machine cooperative operations, this paper proposes a single-person upper limb pose estimation method based on an end-to-end approach for accurate and real-time limb pose estimation. Using the stacked hourglass network model, a single-person upper limb skeleton key point detection model was designed. Deconvolution was employed to replace the up-sampling operation of the hourglass module in the original model, solving the problem of rough feature maps. Integral regression was used to calculate the position coordinates of key points of the skeleton, reducing quantization errors and calculations. Experiments showed that the developed single-person upper limb skeleton key point detection model achieves high accuracy and that the pose estimation method based on the end-to-end approach provides high accuracy and real-time performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Convolutional neural networks

Vision-based Autonomous Landing of Unmanned Aerial Vehicle on a Motional Unmanned Surface Vessel

学校读者我要写书评

暂无评论

Vision-based Autonomous Landing of Unmanned Aerial Vehicle o...

Chinese control Conference (CCC)

作者： Zhe-Cheng Xu Bin-Bin Hu Bin Liu X.D. Wang Hai-Tao Zhang School of Artificial Intelligence and Automation the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan P.R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

This paper has developed a vision-based control approach for autonomous tracking and landing on a motional Unmanned surface vessel (USV) with an unmanned aerial vehicle (UAV). First, a novel three-stage visual detection method is proposed to estimate the relative 3D position between UAV and USV, where the USV stays in a suitable view of the camera of the UAV. Then a PID controller is designed to regulate the attitude of the quadrotor and the movement of the vessel, which enables the successful landing procedure of the UAV on a motional USV. Finally, lake experiments are conducted to verify the effectiveness of the proposed algorithm.

关键词： Cameras Drones Target tracking Mathematical model Three-dimensional displays

Multi-scale feature fusion distilled attention network for efficient image super-resolution

学校读者我要写书评

暂无评论

Applied Soft Computing 2025年 180卷

作者： Yinggan Tang Mengjie Su Xiuli Zhang School of Electrical Engineering Yanshan University Qinhuangdao Hebei 066004 China Key Laboratory of Intelligent Rehabilitation and Neromodulation of Hebei Province Yanshan University Qinhuangdao Hebei 066004 China Key Laboratory of Intelligent Control and Neural Information Processing Ministry of Education Yanshan University Qinhuangdao Hebei 066004 China School of Hebei Vocational and Technical College of Building Materials Qinhuangdao 066004 China

Efficient single image super-resolution (SISR) seeks to enhance reconstruction quality while minimizing computational complexity and model parameters for practical deployment on resource-constrained edge devices. A critical limitation of existing approaches lies in the restricted receptive fields of conventional convolutions, which hinder attention mechanisms and backbone networks from effectively capturing non-local features, ultimately degrading super-resolution performance. To solve this challenge, we propose a novel Multi-scale Feature Fusion Distilled Attention Network (MFFDAN) that synergizes multi-scale feature extraction with lightweight attention mechanisms. Our framework introduces three key innovations. First, we proposed a Multi-scale Convolution (MConv) module that dynamically extracts hierarchical features with multi-scale receptive fields while maintaining parameter efficiency, subsequently extended into a Multi-scale Feature Fusion Distillation Block (MFFDB). Second, we proposed a Distilled Spatial Attention (DSA) mechanism that enhances spatial feature interactions through multi-scale downsampling and distillation-based information refinement. Third, a lightweight Depth-wise Channel Attention (DCA) module optimized via depth-wise convolutions for efficient channel feature selection is proposed. These components are systematically integrated through residual connections to form the Multi-scale Feature Fusion Distilled Attention Block (MFFDAB), the core building block of our architecture. Extensive experiments demonstrate that MFFDAN achieves state-of-the-art performance while maintaining superior computational efficiency, achieving an optimal balance between reconstruction quality (PSNR/SSIM), model complexity (parameters/Multi-Adds), and inference speed across benchmark datasets. The proposed innovations provide a practical solution for deploying high-quality SISR models on edge computing platforms.

关键词：

Dynamic Event-Triggered Consensus of Multi-agent Systems on Matrix-weighted Networks

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Pan, Lulu Shao, Haibin Li, Dewei Liu, Lin Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the network. Specifically, a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks, in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold, which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Distributed event-triggered control protocols are proposed to guarantee leaderless and leader-follower consensus for multi-agent systems on matrix-weighted networks, respectively. Remarkably, the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks, generalizing those results only applicable for scalar-weighted networks. The proposed approach allows each agent to broadcast and receive information only at its triggering instants. Finally, simulation examples are provided to demonstrate the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

Super Twisting control of Passive Gait Training Exoskeleton Driven by Pneumatic Muscles 30

学校读者我要写书评

暂无评论

Super Twisting Control of Passive Gait Training Exoskeleton ...

30th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2019

作者： Zhang, Mengshi Huang, Jian Cao, Yu Zhang, Hai-Tao 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

ISBN: (纸本)9781728126746

Pneumatic Muscles (PMs) - driven exoskeleton has a promising prospect in the field of rehabilitation and assistance, because of the PMs intrinsic features of compliance and high force-to-weight ratio. However, the precise control of PMs-driven exoskeleton still remains a challenging problem due to the hysteresis, time-varying parameters of PMs and complexity of the mechanism. To solve this problem, this paper presents a super twisting controller (STC), essentially a second-order sliding mode control, to realize the human gait tracking control of lower limb exoskeleton. As a result, the disturbances and uncertainties of the system can be handled, and the chattering caused by the traditional sliding mode control (SMC) could be eliminated. The stability of the closed-loop system is ensured according to the Lyapunov theorem. In addition, we conduct experiments in real exoskeleton system and the results illustrate the validity of the super twisting algorithm. Pneumatic Muscles (PMs) - driven exoskeleton has a promising prospect in the field of rehabilitation and assistance, because of the PMs' intrinsic features of compliance and high force-to-weight ratio. However, the precise control of PMs-driven exoskeleton still remains a challenging problem due to the hysteresis, time-varying parameters of PMs and complexity of the mechanism. To solve this problem, this paper presents a super twisting controller (STC), essentially a second-order sliding mode control, to realize the human gait tracking control of lower limb exoskeleton. As a result, the disturbances and uncertainties of the system can be handled, and the chattering caused by the traditional sliding mode control (SMC) could be eliminated. The stability of the closed-loop system is ensured according to the Lyapunov theorem. In addition, we conduct experiments in real exoskeleton system and the results illustrate the validity of the super twisting algorithm.. © 2019 IEEE.

关键词： Sliding mode control