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arXiv 2022年

作者： Wang, Xiang Zhang, Shiwei Qing, Zhiwu Tang, Mingqian Zuo, Zhengrong Gao, Changxin Jin, Rong Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology China Alibaba Group China

Current few-shot action recognition methods reach impressive performance by learning discriminative features for each video via episodic training and designing various temporal alignment strategies. Nevertheless, they are limited in that (a) learning individual features without considering the entire task may lose the most relevant information in the current episode, and (b) these alignment strategies may fail in misaligned instances. To overcome the two limitations, we propose a novel Hybrid Relation guided Set Matching (HyRSM) approach that incorporates two key components: hybrid relation module and set matching metric. The purpose of the hybrid relation module is to learn task-specific embeddings by fully exploiting associated relations within and cross videos in an episode. Built upon the task-specific features, we reformulate distance measure between query and support videos as a set matching problem and further design a bidirectional Mean Hausdorff Metric to improve the resilience to misaligned instances. By this means, the proposed HyRSM can be highly informative and flexible to predict query categories under the few-shot settings. We evaluate HyRSM on six challenging benchmarks, and the experimental results show its superiority over the state-of-the-art methods by a convincing margin. Copyright © 2022, The Authors. All rights reserved.

关键词： Machine learning

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

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

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Xinxing Chen Yue Zheng Zongming Su Yuquan Leng Jian Huang Chenglong Fu Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Technology Planning Department Huawei Technologies 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: (数字)9798350391916

ISBN: (纸本)9798350391923

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.

关键词： Legged locomotion Force Stability criteria Interference Assistive robots User experience Safety Admittance Indexes Robots

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Evolutionary Dynamics of Cooperation on Coupled Networks

Evolutionary Dynamics of Cooperation on Coupled Networks

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control Theory and Applications (ICoCTA), International Conference on

作者： Zhenyu Shi Qi Su Department of Automation Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331506155

ISBN: (纸本)9798331506162

Network reciprocity has been recognized as a crucial mechanism for promoting the evolution of cooperation. However, prior studies on network reciprocity have predominantly focused on isolated networks, neglecting the interconnected nature of real-world systems. In reality, many large-scale systems are closely coupled, where the interaction patterns between systems differ significantly from those within individual networks. Motivated by this observation, we construct a strategy evolution model on coupled networks to explore the effects of such interconnections. Our findings reveal that coupled networks foster cooperation more effectively than isolated networks. This advantage persists across various network structures, suggesting the universality of this phenomenon. Interestingly, we discover that the strength of the coupling plays a pivotal role: weaker coupling between networks is more conducive to the emergence and stability of cooperation compared to stronger coupling. These results high-light the importance of considering cross-system interactions in understanding and designing mechanisms to enhance cooperative behavior.

关键词： Couplings Stability analysis Large-scale systems control theory Game theory

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End-to-end Automatic Targetless Calibration between Low-resolution LiDARs and Cameras based on Cross-modal Attention

End-to-end Automatic Targetless Calibration between Low-reso...

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Chinese control and Decision Conference, CCDC

作者： Tianyang Huang Jun-Guo Lu Ming Wei Qing-Hao Zhang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

LiDARs and cameras, commonly used sensors on autonomous vehicles and robots, require precise calibration for accurate joint environmental perception. Current calibration methods, capable of adjusting both intrinsic and extrinsic parameters, often depend on physical targets or human intervention, making them unsuitable for automatic online calibration. Moreover, these methods are primarily optimized for dense point clouds, as they are often tuned on open datasets featuring high-quality point cloud data. However, low-resolution LiDARs, preferred for their cost-effectiveness, are prevalent in practical applications. To automate the calibration process while maintaining high precision on sparse point clouds, multi-modal image registration techniques are leveraged to develop an end-to-end, cross-attention-based neural network for automatic calibration of low-resolution LiDARs and Cameras. Specifically, given an initial perturbation on point clouds, our network is capable of recovering the true extrinsic parameters without manual intervention. Additionally, specialized input preprocessing and training strategies are incorporated to enhance performance with sparse point clouds. Promising results are achieved on both open datasets and custom sensor acquisitions, highlighting the effectiveness and adaptability of our network to diverse scenarios.

关键词： Point cloud compression Training image registration Visualization Laser radar Perturbation methods Neural networks

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LBM modeling of three-dimensional mixed convection in CZ crystal growth on curvilinear coordinates system

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Results in Physics 2024年 61卷

作者： Zhang, Ni Liu, Ding The Department of Automation Xi'an Key Laboratory of Advanced Control and Intelligent Process Xi'an University of Posts and Telecommunications Xi'an 710121 China The Shaanxi Key Laboratory of Complex System Control and Intelligent of Information Processing Xi'an University of Technology Xi'an 710048 China

A three-dimensional (3D) thermal lattice Boltzmann model of crystal growth is presented to study the magneto-hydrodynamics (MHD) mixed convection in the melt of Czochralski silicon single crystal growth in this paper. In order to solve the problem of lattice Boltzmann method's difficulty in solving the flow of 3D cylindrical cavity, the 3D physical model of crystal growth is transformed from the Cartesian coordinate system to the Curvilinear coordinate system. And the irregular grids in the Cartesian coordinate system are transformed into regular grids in the Curvilinear coordinate system to facilitate the establishment of the Lattice Boltzmann model. Under the above operations, two coupled distribution functions are established to solve the governing equations. Two D3Q19 models are adopted to solve the melt velocity and temperature. And the 3D lattice Boltzmann modeling of crystal growth with cylinder boundary is realized by interpolation in Curvilinear coordinate system. The comparison with the experiment and other references proves that the proposed model and boundary treatment scheme is correct and it proposes a new way for studying the 3D crystal growth or other similar 3D cylindrical cavity simulations. Furthermore, the unstable melt flow for two cases are also simulated in this paper and the critical Reynolds number are also obtained. Results show that the introduction of the transverse magnetic field enhances the stability of the crystal growth system and increases the adjustable range of crystal rotation parameter. The obtained conclusion has an important reference for adjusting the process parameters during the CZ crystal growth. © 2024 The Author(s)

关键词： 3D mixed convection Computer simulation Heat transfer Lattice Boltzmann Method Silicon single crystal growth

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Cluster Consensus Problem on Time-varying Higher-Order Interaction Networks

Cluster Consensus Problem on Time-varying Higher-Order Inter...

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IEEE Conference on Decision and control

作者： Haoyu Wei Lulu Pan Haibin Shao Dewei Li Wenbin Yu Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper examines the cluster consensus problem of higher-order interaction networks on switching networks. The matrix-valued inter-agent coupling mechanism is employed to capture the higher-order interactions amongst neighboring agents. Specifically, for a higher-order interaction network with both positive definite and positive semi-definite coupling matrices, we examine the scenario in which the nullspace of positive semi-definite coupling matrices is constructed by a set of orthogonal basis vectors. From the perspective of the lower-order component graph -the projection of network structure onto the direction of each orthogonal basis–results on the explicit characterization of cluster consensus of higher-order interaction networks are provided. Moreover, for time-varying higher-order interaction networks, necessary and sufficient conditions are provided to ensure that a time-varying network shares the same steady-state values as the integral time-invariant network. Simulation results are provided to demonstrate the theory.

关键词： Couplings Sufficient conditions Network topology Simulation Switches Vectors Topology Steady-state Matrix decomposition Convergence

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UniAnimate: Taming Unified Video Diffusion Models for Consistent Human image Animation

arXiv

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arXiv 2024年

作者： Wang, Xiang Zhang, Shiwei Gao, Changxin Wang, Jiayu Zhou, Xiaoqiang Zhang, Yingya Yan, Luxin Sang, Nong Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Alibaba Group Hangzhou310052 China University of Science and Technology of China Hefei230026 China

Recent diffusion-based human image animation techniques have demonstrated impressive success in synthesizing videos that faithfully follow a given reference identity and a sequence of desired movement poses. Despite this, there are still two limitations: i) an extra reference model is required to align the identity image with the main video branch, which significantly increases the optimization burden and model parameters;ii) the generated video is usually short in time (e.g., 24 frames), hampering practical applications. To address these shortcomings, we present a UniAnimate framework to enable efficient and long-term human video generation. First, to reduce the optimization difficulty and ensure temporal coherence, we map the reference image along with the posture guidance and noise video into a common feature space by incorporating a unified video diffusion model. Second, we propose a unified noise input that supports random noised input as well as first frame conditioned input, which enhances the ability to generate long-term video. Finally, to further efficiently handle long sequences, we explore an alternative temporal modeling architecture based on state space model to replace the original computation-consuming temporal Transformer. Extensive experimental results indicate that UniAnimate achieves superior synthesis results over existing state-of-the-art counterparts in both quantitative and qualitative evaluations. Notably, UniAnimate can even generate highly consistent one-minute videos by iteratively employing the first frame conditioning strategy. Code and models will be publicly available. Project page: https://***/. Copyright © 2024, The Authors. All rights reserved.

关键词： Animation

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Research on feature classification method of network text data based on association rules

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International Journal of Computers and Applications 2020年第2期42卷 157-163页

作者： Huang, Hongben Guangxi Colleges and Universities Key Laboratory of Image Processing and Intelligent Information System Wuzhou University Wuzhou China

Due to the large number of features, sparse data, low precision of feature extraction, and long time-consuming. Using the current method to classify the text data features, it is difficult to achieve better results. A method of feature classification of network text data based on association rules is proposed. A single word is used as a classification feature to extract the association feature item of text data. The feature item after dimension reduction is to construct classifier. Through the support vector machine algorithm, the network text data feature classification is realized. The highest precision ratio of Hangxia et al.’s study [Hangxia Z, Jiajun Y, Huan R. Text categorization based on deep belief network. Comput Eng Sci. 2016;38(5):871–876] is 69%, the highest precision ratio of Wenjuan et al.’s study [Wenjuan S, Shun L, Fei Y. Iterative text classification framework based on background learning. Comput Eng Applic. 2015;51(9):129–134] is 85%, and the highest precision ratio of the proposed method is 93%. The precision of this method is higher, which shows that the method can accurately reflect the feature class information of text data and reduce the error rate of text classification. Experimental results show that the proposed method can improve the accuracy of classification results and has high robustness. © 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Association rules

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Robust Remote Sensing Scene Classification with Multi-view Voting and Entropy Ranking 1

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Wang, Jinyang Wang, Tao Gan, Min Hadjichristofi, George Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering and International Digital Economy College Minjiang University Fuzhou350108 China College of Computer and Data Science Fuzhou University Fuzhou350108 China Department of Computer Science and Engineering European University Cyprus Nicosia1516 Cyprus

ISBN: (数字)9783031200960

ISBN: (纸本)9783031200953

Deep convolutional neural networks have been widely used in scene classification of remotely sensed images. In this work, we propose a robust learning method for the task that is secure against partially incorrect categorization of images. Specifically, we remove and correct errors in the labels progressively by iterative multi-view voting and entropy ranking. At each time step, we first divide the training data into disjoint parts for separate training and voting. The unanimity in the voting reveals the correctness of the labels, so that we can train a strong model with only the images with unanimous votes. In addition, we adopt entropy as an effective measure for prediction uncertainty, in order to partially recover labeling errors by ranking and selection. We empirically demonstrate the superiority of the proposed method on the WHU-RS19 dataset and the AID dataset. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Entropy

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Gesture Recognition of sEMG Based on Res-LSTM 17th

Gesture Recognition of sEMG Based on Res-LSTM

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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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