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42nd Chinese Control Conference, CCC 2023

作者： Huang, Xiang Zhang, Hai-Tao School of Artificial Intelligence and Automation Huazhong University of Science and Technology Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

The piezoelectric actuator is one kind of device that can drive nanoscale motion. However, the nonlinear hysteresis effect induced by its natural material greatly degrades its positioning accuracy. To handle this challenging issue, this work develops a Koopman model predict control (Koopman- MPC) framework for the piezoelectric actuator. Specifically, the Koopman operator theory is adapted for modeling the piezoelectric actuator dynamics. A simple yet powerful linear model spanned in a high-dimensional space is thus constructed to characterize the hysteresis dynamics. Subsequently, upon the established Koopman model, an MPC scheme is put forward for tracking control of piezoelectric actuators. Therein, by sustained optimizing a cost function containing future outputs and control increments, the control input is obtained. Moreover, extensive tracking simulations are carried out on a simulated piezoelectric actuator for verifying the feasibility and effectiveness of the Koopman- Mpc scheme. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Model predictive control

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Asymptotically Optimal Sequence Sets With Low/Zero Ambiguity Zone Properties

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IEEE Transactions on Information Theory 2025年第6期71卷 4785-4796页

作者： Tian, Liying Song, Xiaoshi Liu, Zilong Li, Yubo Northeastern University School of Computer Science and Engineering Shenyang110819 China Northeastern University Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Shenyang110189 China University of Essex School of Computer Science and Electronics Engineering ColchesterCO4 3SQ United Kingdom Yanshan University School of Information Science and Engineering Qinhuangdao066004 China Hebei Key Laboratory of Information Transmission and Signal Processing Qinhuangdao066004 China

Sequences with low/zero ambiguity zone (LAZ/ZAZ) properties are useful in modern communication and radar systems operating over mobile environments. This paper first presents a new family of ZAZ sequence sets motivated by the "modulating" zero correlation zone (ZCZ) sequences which were first proposed by Popovic and Mauritz. We then introduce a second family of ZAZ sequence sets with comb-like spectrum, whereby the local Doppler resilience is guaranteed by their inherent spectral nulls in the frequency domain. Finally, LAZ sequence sets are obtained by exploiting their connection with a novel class of mapping functions. These proposed unimodular ZAZ and LAZ sequence sets are cyclically distinct and asymptotically optimal with respect to the existing theoretical bounds on ambiguity functions. © 1963-2012 IEEE.

关键词： Frequency domain analysis

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Adaptive delay-energy balanced partial offloading strategy in Mobile Edge Computing networks

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Digital communications and Networks 2023年第6期9卷 1310-1318页

作者： Shumei Liu Yao Yu Lei Guo Phee Lep Yeoh Branka Vucetic Yonghui Li School of Computer Science and Engineering Northeastern UniversityShenyang110819China Key Laboratory of Intelligent Computing in Medical Image Ministry of EducationNortheastern UniversityShenyang110819China School of Communication and Information Engineering Chongqing University of Posts and TelecommunicationsChongqing400065China School of Electrical and Information Engineering University of SydneySydneyNSW2006Australia

Mobile Edge Computing(MEC)-based computation offloading is a promising application paradigm for serving large numbers of users with various delay and energy *** this paper,we propose a flexible MECbased requirement-adaptive partial offloading model to accommodate each user's specific preference regarding delay and energy *** address the dimensional differences between time and energy,we introduce two normalized parameters and then derive the computational overhead of processing *** from existing works,this paper considers practical variations in the user request patterns,and exploits a flexible partial offloading mode to minimize computation overheads subject to tolerable delay,task workload and power *** the resulting problem is non-convex,we decouple it into two convex subproblems and present an iterative algorithm to obtain a feasible offloading *** experiments show that our proposed scheme achieves a significant improvement in computation overheads compared with existing schemes.

关键词： Mobile edge computing(MEC) Delay Energy consumption Dynamic balance Partial computation offloading

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Dilation-Supervised Learning: A Novel Strategy for Scale Difference in Retinal Vessel Segmentation

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第4期5卷 1693-1707页

作者： Wang, Huadeng Zuo, Wenbin Li, Bingbing Pan, Xipeng Liu, Zhenbing Lan, Rushi Luo, Xiaonan Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin541004 China School of Computer Science and Information Security Guilin University of Electronic Technology Guilin541004 China Guilin University of Electronic Technology School of Computer Science and Information Security Guilin541004 China Ganzhou Municipal Hospital Department of Pathology Ganzhou341000 China

Retinal fundus image segmentation based on deep learning is an important method for auxiliary diagnosis of ophthalmic diseases. Due to the scale difference of the blood vessels and the imbalance between foreground and background pixels in the fundus image, the deep learning network will inevitably ignore thin vessels when downsampling and feature learning. For the scale difference problem, this article aims to tackle its limitation from two perspectives: changing the supervised approach and adapting the feature learning. Correspondingly, a dilation-supervised learning method and an adaptive scale dimensional attention mechanism which are used to construct a two-stage segmentation model is proposed. Moreover, we introduce a quantitative approach to evaluate the scale difference of the blood vessels. With the help of the proposed weighted loss function, the segmentation results are refined, and the class imbalance problem between foreground and background pixels is resolved. Finally, the proposed adaptive threshold selection method is used in the postprocessing of segmentation results. The experiments on DRIVE, STARE, CHASE_DB1, and HRF datasets show that the proposed method achieves better segmentation performance compared with other state-of-the-art methods, and has good generalization ability and robustness. © 2020 IEEE.

关键词： Semantics

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WDNet: A Water Depth Perception Network with Global Information 42

WDNet: A Water Depth Perception Network with Global Informat...

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42nd Chinese Control Conference, CCC 2023

作者： Huang, Zhihui Tang, Yifeng Tang, Chuancong Xu, Yifan Luo, Chuanshang Liu, Bin Zhang, Hai-Tao School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

Deep perception of the unmanned surface vehicle's surroundings is an inaccessible part of its fully autonomous navigation mission. The existing methods, whether based on traditional stereo matching or deep learning, do not fully consider the characteristics of water environment, resulting in severe error depths in weak textures (sky, calm lake) and water reflections regions, that increases the risk of running aground or collision. What is worse that there is not a public dataset for depth estimation in the water environment. Therefore, this work proposes a self-supervised model for depth estimation named Water Depth Perception Network (WDNet) to address these problems. The decoder of this network has a wider receptive field and can effectively handle the depth error in the weak texture region. Besides, the WDNet is trained with a novel and effective loss function which assist the network to reduce errors in sky and water region, and some indexes are proposed to evaluate the model's performances in sky and water region. Finally, our proposed WDNet achieves a 0.1056 absolute relative error in ranging, the average number of error pixels in the sky area drops from 15803.87 to 580.91, which only accounted for 0.29% of the image, and the error in water region drops from 51.04 to 6.75, all of them are superior to the performance of baseline model. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Errors

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Dynamic Graph Dismantling with Reinforcement Supervised Learning 42

Dynamic Graph Dismantling with Reinforcement Supervised Lear...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Yumei Tang, Chuancong Zhang, Hai-Tao School of Artificial Intelligence and Automation Huazhong University of Science and Technology The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

There are always some 'key' nodes in a big complex network, which can joint the most connected subgraphs. How to identify these nodes, finding a minimum set of nodes to attack for reducing the size of residual network's Largest Connected Component(LCC) to break up the original network, has become a research hotspot. Therefore, a method for determining the 'key' nodes based on reinforcement learning framework and supervised learning model is proposed. This algorithm can not only utilize the dynamic exploration ability of reinforcement learning to collect a rich training dataset, but also take advantage of the characteristics that supervised learning is adaptive and has strong generalization ability to possess high efficiency and strong robustness. In order to further improve the algorithm's performance, ϵ-greedy mechanism is used to explore more network states. The experiment results show that given the same fraction of removed nodes, our algorithm can make the residual LCC smaller in various networks which is superior to the state-of-the-art algorithms in terms of effectiveness and generalization. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Complex networks

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FC-GNN: Recovering Reliable and Accurate Correspondences from Interferences

FC-GNN: Recovering Reliable and Accurate Correspondences fro...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Haobo Xu Jun Zhou Hua Yang Renjie Pan Cunyan Li Institute of Image Communication and Network Engineering Shanghai Jiao Tong University Shanghai Key Lab of Digital Media Processing and Transmission

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Finding correspondences between images is essential for many computer vision tasks and sparse matching pipelines have been popular for decades. However, matching noise within and between images, along with inconsistent key-point detection, frequently degrades the matching performance. We review these problems and thus propose: 1) a novel and unified Filtering and Calibrating (FC) approach that jointly rejects outliers and optimizes inliers, and 2) leveraging both the matching context and the underlying image texture to remove matching uncertainties. Under the guidance of the above innovations, we construct Filtering and Calibrating Graph Neural Network (FC-GNN), which follows the FC approach to recover reliable and accurate correspondences from various interferences. FC-GNN conducts an effectively combined inference of contextual and local information through careful embedding and multiple information aggregations, predicting confidence scores and calibration offsets for the input correspondences to jointly filter out outliers and improve pixel-level matching accuracy. Moreover, we exploit the local coherence of matches to perform inference on local graphs, thereby reducing computational complexity. Overall, FC-GNN operates at lightning speed and can greatly boost the performance of diverse matching pipelines across various tasks, showcasing the immense potential of such approaches to become standard and pivotal components of image matching. Code is avaiable at https://***/xuy123456/fcgnn.

关键词： Matched filters Computer vision Technological innovation Accuracy Uncertainty Computer network reliability Pipelines

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OCF-Layout2Img: Object-Wise Constraint Free Layout to image Generation 23

OCF-Layout2Img: Object-Wise Constraint Free Layout to Image ...

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15th International Conference on Digital image processing, ICDIP 2023

作者： Lin, Xiao Liu, Bin He, Zhifen Wang, Kang Li, Bo School of Mathematics and Information Science Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Nanchang Hangkong University China Jiangxi Science and Technology Infrastructure Center Jiangxi Computing Center China

ISBN: (纸本)9798400708237

Complex scene generation is an important and challenging image synthesis task. Though latent space based conditional generative methods get impressive results, the accurate locating of objects for more detailed situation and editable contiguous synthesis are still a snag. In addition, previous methods with spatial awareness are easy to lose the location information after a series fusion operation. Focusing on such kind of problems, in this paper we propose an object-wise constraint free and location-lossless way of layout embedding by combining VAE and recent high performance VQGAN to achieve a location accurate and stable synthesis for layouts of complex scene. Instead of conditioning on layout, we apply a pretrained VQGAN to define the latent space and project every region of layout to image latent space directly by aligning their distribution with a novel light Cross-VAE structure. Then the quantization and decoder of VQGAN are reused for synthesis. This VAE plugged into VQGAN framework, which is called Layout-DVGAN in this paper. Experimental results demonstrate our method has competitive performance compared with the approaches which applied explicit spatial awareness way. © 2023 ACM.

关键词： Location

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An Assist-as-Needed Variable Admittance Controller for Adaptive Support of Mobile Walking Assistive Robots 30

An Assist-as-Needed Variable Admittance Controller for Adapt...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Chen, Xinxing Zheng, Yue Su, Zongming Leng, Yuquan Huang, Jian Fu, Chenglong Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Huawei Technologies Technology Planning Department Shenzhen China Key Laboratory for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350391916

Mobile walking assistive robots have been widely used for monitoring patients' gait patterns and providing support to prevent falls. Traditional approaches often separate the operational modes of these robots into human-following and supporting modes, which can lead to discontinuities in assistance and potentially compromise safety. This paper proposes a novel assist-as-needed control strategy that incorporates a Balance Index (BI) to dynamically adjust the robot's support based on the user's balance capability. The BI is calculated using the interaction force between the user and the robot along the z-axis and the gait symmetry index (GSI). The proposed variable admittance controller modifies its parameters based on the BI, ensuring seamless transitions between compliance and support modes. Experimental validation was conducted with a healthy subject walking both with and without a knee fixation brace. The results demonstrate that the robot provides minimal interference during natural gait and increased support during impaired gait, validating the effectiveness of the proposed control strategy in enhancing user safety and promoting natural walking patterns. © 2024 IEEE.

关键词： Assistive technology

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Wind Vector Inversion of ADS-B Data Based on Improved PSO-PF Algorithm

Wind Vector Inversion of ADS-B Data Based on Improved PSO-PF...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Chen, Wantong Wu, Duo Ren, Shiyu Diao, Tianru Tianjin Key Laboratory of Intelligent Signal and Image Processing Civil Aviation University of China Tianjin300300 China School of Electronic Information and Automation Civil Aviation University of China Tianjin300300 China

ISBN: (纸本)9789811966125

At present, inversing wind vector from aircraft trajectory captured by automatic dependent surveillance-broadcast (ADS-B) is one of the main solutions to obtain wind field in aviation meteorology. However, some algorithms in this scheme still have some shortcomings, especially the poor performance when the aircraft turns at a small angle. In this paper, the geometric structure of ADS-B data is used to improve particle swarm optimized particle filter algorithm (PSO-PF) to inverse wind vectors in small area of single aircraft data and large area of multi-aircraft data respectively. The mean absolute error of wind estimation under different turning angles is evaluated. Experimental results show that the algorithm is feasible, and it still has a good inversion effect when the aircraft turns at a small angle. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Aircraft

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