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arXiv 2021年

作者： Huang, Zongheng Sun, Yifan Han, Chuchu Gao, Changxin 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 China Baidu Research United States

This paper tackles the Zero-Shot Sketch-Based image Retrieval (ZS-SBIR) problem from the viewpoint of cross-modality metric learning. This task has two characteristics: 1) the zero-shot setting requires a metric space with good within-class compactness and the between-class discrepancy for recognizing the novel classes and 2) the sketch query and the photo gallery are in different modalities. The metric learning viewpoint benefits ZS-SBIR from two aspects. First, it facilitates improvement through recent good practices in deep metric learning (DML). By combining two fundamental learning approaches in DML, e.g., classification training and pairwise training, we set up a strong baseline for ZS-SBIR. Without bells and whistles, this baseline achieves competitive retrieval accuracy. Second, it provides an insight that properly suppressing the modality gap is critical. To this end, we design a novel method named Modality-Aware Triplet Hard Mining (MATHM). MATHM enhances the baseline with three types of pairwise learning, e.g., a cross-modality sample pair, a within-modality sample pair, and their combination. We also design an adaptive weighting method to balance these three components during training dynamically. Experimental results confirm that MATHM brings another round of significant improvement based on the strong baseline and sets up new state-of-the-art performance. For example, on the TU-Berlin dataset, we achieve 47.88+2.94% mAP@all and 58.28+2.34% Prec@100. Code will be publicly available. Copyright © 2021, The Authors. All rights reserved.

关键词： Deep learning

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Opportunistic Wireless control Over State-Dependent Fading Channels*

Opportunistic Wireless Control Over State-Dependent Fading C...

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IEEE Conference on Decision and control

作者： Shuling Wang Peizhe Li Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS’s performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed the operational control for the MAS. By virtue of the algebraic state space representation (ASSR) method, an equivalent form is obtained for the WCS and MAS coupling. A necessary and sufficient condition in terms of constrained set stabilization is then established to ensure the Lyapunov-like performance with expected decay rate. Finally, a graphical method together with the breath-first searching is provided to design state feedback controllers for the MAS. With this method, it is easy to check the constrained set stabilization of MAS and to ensure the performance requirements of WCS in the presence of WCS and MAS coupling. The study of an illustrative example shows the effectiveness of the proposed method.

关键词： Couplings Wireless communication Fading channels State feedback Mobile agents Optical wavelength conversion Switches

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Dual-Camera All-in-Focus Neural Radiance Fields

arXiv

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arXiv 2025年

作者： Luo, Xianrui Wu, Zijin Peng, Juewen Sun, Huiqiang Cao, Zhiguo Lin, Guosheng 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 Singapore639798 Singapore

We present the first framework capable of synthesizing the all-in-focus neural radiance field (NeRF) from inputs without manual refocusing. Without refocusing, the camera will automatically focus on the fixed object for all views, and current NeRF methods typically using one camera fail due to the consistent defocus blur and a lack of sharp reference. To restore the all-in-focus NeRF, we introduce the dual-camera from smartphones, where the ultra-wide camera has a wider depth-of-field (DoF) and the main camera possesses a higher resolution. The dual camera pair saves the high-fidelity details from the main camera and uses the ultra-wide camera’s deep DoF as reference for all-in-focus restoration. To this end, we first implement spatial warping and color matching to align the dual camera, followed by a defocus-aware fusion module with learnable defocus parameters to predict a defocus map and fuse the aligned camera pair. We also build a multi-view dataset that includes image pairs of the main and ultra-wide cameras in a smartphone. Extensive experiments on this dataset verify that our solution, termed DC-NeRF, can produce high-quality all-in-focus novel views and compares favorably against strong baselines quantitatively and qualitatively. We further show DoF applications of DC-NeRF with adjustable blur intensity and focal plane, including refocusing and split diopter. Copyright © 2025, The Authors. All rights reserved.

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A Model-free False Data Injection Attack Strategy in Networked control Systems

A Model-free False Data Injection Attack Strategy in Network...

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IEEE Conference on Decision and control

作者： Xiaoyu Luo Chongrong Fang Chengcheng Zhao Jianping He The Department of Automation Shanghai Jiao Tong University 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 The State Key Laboratory of Industrial Control Technology and Institute of Cyberspace Research Zhejiang University China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The data-driven attack strategies recently have received much attention when the full knowledge of the system model is unknown or difficult to be obtained for the adversary. Note that despite the critical parameters of the system model being unavailable for the adversary, the existing data-driven attack methods still depend on the linearity of the unknown system model. In this paper, we design a completely model-free attack strategy where the adversary with limited capability aims to compromise state variables such that the output value follows the expected trajectory. Specifically, we first construct a zeroth-order feedback optimization framework and uninterruptedly use probing signals for real-time measurements. Then, we iteratively update the attack signals along the composite direction of the gradient estimates of the objective function evaluations and the projected gradients. These objective function evaluations can be obtained only by real-time measurements. Furthermore, we characterize the optimality of these solutions via the optimality gap, which is affected by the dimensions of the attack signal, the iterations of solutions, and the convergence rate of the system. Extensive simulations are conducted to show the effectiveness of the proposed attack strategy.

关键词： Networked control systems Computational modeling Current measurement Linear programming Real-time systems Data models Time measurement

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Multi-type and Multi-level Feature Fusion Network for RGBD Indoor Semantic Segmentation

Multi-type and Multi-level Feature Fusion Network for RGBD I...

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Chinese control and Decision Conference, CCDC

作者： Yuwen Xia Chaochen Gu Kaijie Wu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665478977

RGBD images, which refer to the three-channel color images augmented with depth channel, have been greatly exploited to improve the performance of scene semantic segmentation. RGBD semantic segmentation task is of great significance to help the development of robot navigation and grasping. However, most existing methods addressing RGBD semantic segmentation lack effective feature fusion modules. To address the aforementioned problem, we propose a novel network with two novel modules for feature fusion, namely Channel-Attention based Complementary Feature Fusion Module (CAC-FFM) and Cross-Layer Feature Fusion Module (CL-FFM). Specifically, CAC-FFM, which is essentially based on the channel-attention mechanism, effectively utilizes the complementary information of RGB and depth to generate fusion features, and CL-FFM captures patch-wise features from low-level feature maps to assist the training of high-level features so as to further optimize the segmentation results. Experimental results on the publicly available NYUDv2 dataset validate the effectiveness and superiority of our proposed method.

关键词： Training Cross layer design Correlation Navigation Semantic segmentation Grasping Excavation

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Building Temperature and Humidity Adaptive control for a Multi-Zone HVAC System Using Hybrid Modeling Method

Building Temperature and Humidity Adaptive Control for a Mul...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yuliang Jiang Shanying Zhu Qimin Xu Bo Yang Xinping Guan Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781728119496

In this paper, the heating, ventilation and air conditioning (HVAC) system as the contributor of building climate management is studied on multi-zone climate dynamics modelling and control for occupancy comfort. The first-principles model together with data-driven model as the hybrid model is proposed for comprehensive multi-zone hygro-thermal dynamics. The unmodeled climate dynamics such as unknown nonlinearity and uncertainty is modeled in a linear form based on the compact form dynamic linearization (CFDL) method. Then model free adaptive control (MFAC) scheme including controller design and parameter estimation is proposed to realize multi-zone climate control and occupancy comfort. The dynamic response performance of the hybrid model-based adaptive control and the first-principles model-based adaptive control has been tested in a multi-zone building with four different zones. The results show that the proposed hybrid model-based adaptive control scheme can achieve obvious performance improvement in minimizing steady-state error.

关键词： Adaptation models HVAC Parameter estimation Uncertainty Atmospheric modeling Buildings Ventilation

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Prognostic Prediction for Non-small-Cell Lung Cancer Based on Deep Neural Network and Multimodal Data 17th

Prognostic Prediction for Non-small-Cell Lung Cancer Based o...

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17th International Conference on intelligent Computing, ICIC 2021

作者： Zhang, Zhong-Si Xu, Fei Jiang, Han-Jing Chen, Zhan-Heng Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China Institute of Artificial Intelligence School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Institute of Machine Learning and Systems Biology School of Electronics and Information Engineering Tongji University No. 4800 Caoan Road Shanghai201804 China

ISBN: (纸本)9783030845315

Non-small-cell lung cancer (NSCLC) is the most common lung cancer with poor prognosis. Prognostic prediction is significant in improving the prognosis of NSCLC patients. Clinical information and multi-omics data including gene expression, miRNA, copy number variations, and DNA methylation are closely related to NSCLC prognosis. In this study, we propose a deep neural network to conduct prognostic prediction for NSCLC patients based on all five types of data. Given the high dimensional features of the omics data, past works reduce the feature dimension by regression analysis or correlation sorting algorithms. A shortcoming of these methods is that only a small number of features are considered. To overcome it, we propose a convolution neural network-based feature transformation method, which considers all features and extracts the abstract representations of the omics data. Based on the representations, we predict the five-year survival status of NSCLC patients. The results show that our method achieves a more precise prediction than previous work, with the areas under the curve improved from 0.8163 to 0.8508 and the accuracy improved from 0.7544 to 0.8096. © 2021, Springer Nature Switzerland AG.

关键词： Forecasting

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Prediction of Drug-Disease Associations Based on Long Short-Term Memory Network and Gaussian Interaction Profile Kernel 15th

Prediction of Drug-Disease Associations Based on Long Short-...

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15th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2020

作者： Jiang, Han-Jing Wang, Yan-Bin Huang, Yabing Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China Institute of Artificial Intelligence School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China College of Computer Science and Technology Zhejiang University Hangzhou315000 China Department of Pathology Renmin Hospital of Wuhan University Wuhan430060 China

ISBN: (纸本)9789811613531

Drug-disease association depicts the accessibility landscape of the association at the molecular level, thereby revealing the intermolecular reaction in the process of drug reposition. However, the scarcity of drug-disease association data often complicates the drug reposition. In this work, we present a method for predicting drug-disease association, which is called drug-disease association prediction via Gaussian interaction profile kernel and long short-term memory network (G-LSTM). G-LSTM combines a recurrent network framework with a Gaussian interaction profile kernel to learn underlying features that accurately characterize drug-disease-association data. We have verified G-LSTM models on the two benchmark datasets Fdataset and Cdataset, respectively. The experimental results show that the predictive performance was significantly improved, with AUC of 0.9527 and 0.9705, respectively. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Long short-term memory

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Exploiting Distilled Learning for Deep Siamese Tracking

Exploiting Distilled Learning for Deep Siamese Tracking

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International Conference on Pattern Recognition

作者： Chengxin Liu Zhiguo Cao Wei Li Yang Xiao Shuaiyuan Du Angfan Zhu Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Queen Mary University of London

Existing deep siamese trackers are typically built on off-the-shelf CNN models for feature learning, with the demand for huge power consumption and memory storage. This limits current deep siamese trackers to be carried on resource-constrained devices like mobile phones, given factor that such a deployment normally requires cost-effective considerations. In this work, we address this issue by presenting a novel Distilled Learning Framework(DLF) for siamese tracking, which aims at learning tracking model with efficiency and high accuracy. Specifically, we propose two simple yet effective knowledge distillation strategies, denote as point-wise distillation and pairwise distillation, which are designed for transferring knowledge from a more discriminative teacher tracker into a compact student tracker. In this way, cost-effective and high performance tracking could be achieved. Extensive experiments on several tracking benchmarks demonstrate the effectiveness of our proposed method.

关键词： Power demand Pipelines Memory management Benchmark testing Mobile handsets Pattern recognition

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Direction-Constrained control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

arXiv

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arXiv 2024年

作者： Xu, Mengxin Wan, Weiwei Wang, Hesheng Harada, Kensuke Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-0043 Japan Department of Automation the Key Laboratory of System Control and Information Processing of Ministry of Education the Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which, however, cannot be directly applied to human interaction due to its allowance of arbitrary velocity direction adjustments. To resolve this limitation, we introduce the concept of directional constraints and develop a direction-constrained optimization algorithm to handle the nonlinearities induced by these constraints. The algorithm solves two sub-problems, minimizing the error and minimizing the deviation angle, in parallel, and combines the results of the two sub-problems to produce a final optimal outcome. The mutual influence between these two sub-problems is analyzed to determine the best parameter for combination. Additionally, the velocity objective in our control framework is computed using a variable admittance controller. Traditional admittance control does not account for constraints. To address this issue, we propose a variable admittance control method to adjust control objectives dynamically. The method helps reduce the deviation between robot velocity and human intention at the constraint boundaries, thereby enhancing interaction efficiency. We evaluate the proposed method in scenarios where a human operator physically interacts with a 7-degree-of-freedom robotic arm. The results highlight the importance of incorporating directional constraints in pHRI for hierarchical tasks. Compared to existing methods, our approach generates smoother robotic trajectories during interaction while avoiding interaction delays at the constraint boundaries. Copyright © 2024, The Authors. All rights reserved.

关键词： Constrained optimization

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