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8th Asia-Pacific Conference on Antennas and Propagation, APCAP 2019

作者： Wu, HongMing Qi, Feng Wang, Jinkuan Northeastern University College of Information Science and Engineering Shenyang110819 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China

ISBN: (纸本)9781665400541

At present, With the development of technology, the high resolution of millimeter wave (terahertz) can be applied to environmental sensing imaging. In this paper, Using the frequency-modulated continuous-wave (FMCW) radar technique with a 1GHz bandwidth, we show experimentally that a high-resolution real time imaging radar operating at 93.5-94.5GHz is capable of detecting different car models at standoff ranges of 12 m. We also achieved 3D high-resolution imaging of the building. at 140 meters. © 2019 IEEE.

关键词： Millimeter waves

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Development of an MEMS based biomimetic whisker sensor for tactile sensing

Development of an MEMS based biomimetic whisker sensor for t...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Zihou Wei Qing Shi Chang Li Shurui Yan Guanglu Jia Zhigang Zeng Qiang Huang Toshio Fukuda Key Laboratory of Biomimetic Robots and Systems Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control the School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

It has been demonstrated that biological whisker sensing system has excellent capacity to achieve the pattern recognition, and whisker sensor based robot tactile perception has caused widespread concern. However, most of current existed whisker sensors are too large in size, and are difficult to be integrated into a small robot. In this paper, we proposed a MEMS based biomimetic whisker sensor inspired by rats, which integrates four sensing units on a square silicon wafer with a side length of 6.8mm and makes it possible to be installed on a small robot with similar size to a real rat. Our sensor measure the bending moment at the root of the whisker based on the piezoresistive effect. We have explored the range of functions that whisker arrays can serve on and it is shown that our whisker sensor can determine obstacle distance, and is also capable of gathering surface information including shape and texture.

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Re-ID driven localization refinement for person search

arXiv

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arXiv 2019年

作者： Han, Chuchu Ye, Jiacheng Zhong, Yunshan Tan, Xin Zhang, Chi 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 Peking University Shanghai Jiao Tong University Megvii Technology

Person search aims at localizing and identifying a query person from a gallery of uncropped scene images. Different from person re-identification (re-ID), its performance also depends on the localization accuracy of a pedestrian detector. The state-of-the-art methods train the detector individually, and the detected bounding boxes may be suboptimal for the following re-ID task. To alleviate this issue, we propose a re-ID driven localization refinement framework for providing the refined detection boxes for person search. Specifically, we develop a differentiable ROI transform layer to effectively transform the bounding boxes from the original images. Thus, the box coordinates can be supervised by the re-ID training other than the original detection task. With this supervision, the detector can generate more reliable bounding boxes, and the downstream re-ID model can produce more discriminative embeddings based on the refined person localizations. Extensive experimental results on the widely used benchmarks demonstrate that our proposed method performs favorably against the state-of-the-art person search methods. Copyright © 2019, The Authors. All rights reserved.

关键词： Machine learning

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Predefined-time terminal sliding mode control of robot manipulators

arXiv

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arXiv 2020年

作者： Liang, Chang-Duo Ge, Ming-Feng Liu, Zhi-Wei Wang, Yan-Wu Karimi, Hamid Reza School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan430074 China Department of Mechanical Engineering Politecnico di Milano Milan20156 Italy

In this paper, we present a new terminal sliding mode control to achieve predefined-time stability of robot manipulators. The proposed control is developed based on a novel predefined-time terminal sliding mode (PTSM) surface, on which the states are forced to reach the origin in a predefined time, i.e., the settling time is independent to the initial condition and can be explicitly user-defined via adjusting some specific parameters called the predefined-time parameters. It is also demonstrated that the proposed control can provide satisfactory steady-state performance in the case of both external disturbances and parametric uncertainties. Besides, we present a formal systemic analysis method to derive the sufficient conditions for guaranteeing the predefined-time convergence of the closed-loop system. Finally, the effectiveness and performance of the presented control scheme are illustrated through both theoretical comparisons and numerical simulations. Copyright © 2020, The Authors. All rights reserved.

关键词： Sliding mode control

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Finite-size scaling of geometric renormalization flows in complex networks

arXiv

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arXiv 2020年

作者： Chen, Dan Su, Housheng Wang, Xiaofan Pan, Gui-Jun Chen, Guanrong School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan430074 China Department of Automation Shanghai University Shanghai200072 China Faculty of Physics and Electronic Science Hubei University Wuhan430062 China Department of Electrical Engineering City University of Hong Kong Hong Kong Hong Kong

Recently, the concept of geometric renormalization group provides a good approach for studying the structural symmetry and functional invariance of complex networks. Along this line, we systematically investigate the finite-size scaling of structural and dynamical observables in geometric renormalization flows of synthetic and real evolutionary networks. Our results show that these observables can be well characterized by a certain scaling function. Specifically, we show that the critical exponent implied by the scaling function is independent of these observables but only depends on the small-world properties of the network, namely, all networks located in the small-world phase have a uniform scaling exponent, while those located in the non-small-world phase and in their critical regions have another uniform scaling. More importantly, we perform extensive experiments on real evolutionary networks with small-world characteristics, and our results show that these observables also have uniform scaling in their geometric renormalization flows. Therefore, in a sense this exponent can be used as an effective measure for classifying universal small-world and non-small-world network models. © 2020, CC BY-SA.

关键词： Geometry

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Learning data-adaptive non-parametric kernels

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2020年第1期21卷 8590-8628页

作者： Fanghui Liu Xiaolin Huang Chen Gong Jie Yang Li Li Department of Electrical Engineering ESAT-STADIUS KU Leuven Belgium Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology China and Department of Computing Hong Kong Polytechnic University Hong Kong SAR China Department of Automation BNRist Tsinghua University China

In this paper, we propose a data-adaptive non-parametric kernel learning framework in margin based kernel methods. In model formulation, given an initial kernel matrix, a data-adaptive matrix with two constraints is imposed in an entry-wise scheme. Learning this data-adaptive matrix in a formulation-free strategy enlarges the margin between classes and thus improves the model flexibility. The introduced two constraints are imposed either exactly (on small data sets) or approximately (on large data sets) in our model, which provides a controllable trade-off between model flexibility and complexity with theoretical demonstration. In algorithm optimization, the objective function of our learning framework is proven to be gradient-Lipschitz continuous. Thereby, kernel and classifier/regressor learning can be efficiently optimized in a unified framework via Nesterov's acceleration. For the scalability issue, we study a decomposition-based approach to our model in the large sample case. The effectiveness of this approximation is illustrated by both empirical studies and theoretical guarantees. Experimental results on various classification and regression benchmark data sets demonstrate that our non-parametric kernel learning framework achieves good performance when compared with other representative kernel learning based algorithms.

关键词： support vector machines non-parametric kernel learning gradient-Lipschitz continuous

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Reaching Non-Negative Edge Consensus of Networked Dynamical Systems

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2712-2722页

作者： Wang, Xiao Ling Su, Housheng Chen, Michael Z. Q. Wang, Xiao Fan Chen, Guanrong College of Automation Nanjing University of Posts and Telecommunications Nanjing China School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China School of Automation Nanjing University of Science and Technology Nanjing China Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Department of Electronic Engineering City University of Hong Kong Hong Kong

In this paper, the problem of non-negative edge consensus of undirected networked linear time-invariant systems is addressed by associating each edge of the network with a state variable, for which a distributed algorithm is constructed. Sufficient conditions referring only to the number of edges are derived for non-negative edge consensus of the networked systems. Subsequently, the linear programming method and a low-gain feedback technique are introduced to simplify the design of the feedback gain matrix for achieving the non-negative edge consensus. It is found that the low-gain feedback technique has a good effect on the non-negative edge consensus of the networked systems subject to input saturation. Numerical simulations are presented to verify the effectiveness of the theoretical results.

关键词： Distributed algorithm line graph low-gain feedback networked system non-negative edge consensus

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Automatic Monitoring of Driver's Physiological Parameters Based on Microarray Camera

Automatic Monitoring of Driver's Physiological Parameters Ba...

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IEEE Eurasia Conference on Biomedical Engineering, Healthcare and Sustainability (ECBIOS)

作者： Jiancheng Zou Zhengzheng Li Peizhou Yan Institute of Image Processing and Pattern Recognition North China University of Technology Beijing Key Laboratory of Urban Rod Traffic Intelligent Control Technology North China University of Technology Shijingshan District Beijing China

Driver's physical and mental states are very important factors affecting the driving states. Traffic accidents are occurred by accompanying abnormal physiological parameters. So how to monitor automatically driver's physiological parameters is an important problem. A real-time driver's physiological parameters monitoring method based on microarray camera is proposed in this paper. Firstly, we use a microarray camera to acquire videos in real time without contact. Secondly, the videos are registered and fused into a high quality video. Thirdly, deep learning framework is used to capture driver's facial data quickly. Then based on the principle of imaging photoplethysmography (IPPG) algorithm, physiological parameters such as heart rate (HR) and oxygen saturation (SpO 2 ) are monitored in real time. Results of expression analysis can further support the physiological parameters monitoring results. The experimental results show that the method proposed in this paper can monitor the physiological parameters of drivers in real time and accurately, and it is hopeful to play an active role in improving traffic safety.

关键词： Biomedical monitoring Monitoring Cameras Videos Heart rate Real-time systems

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Deep Adaptive Fusion Network for High Performance RGBT Tracking

Deep Adaptive Fusion Network for High Performance RGBT Track...

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International Conference on Computer Vision Workshops (ICCV Workshops)

作者： Yuan Gao Chenglong Li Yabin Zhu Jin Tang Tao He Futian Wang Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and Technology Anhui University Hefei China Institute of Physical Science and Information Technology Anhui University Hefei China Key Laboratory of Industrial Image Processing and Analysis of Anhui Province Hefei China Anhui COWAROBOT CO. Ltd Wuhu China

ISBN: (数字)9781728150239

ISBN: (纸本)9781728150246

Due to the complementarity of RGB and thermal data, RGBT tracking has received more and more attention in recent years because it can effectively solve the degradation of tracking performance in dark environments and bad weather conditions. How to effectively fuse the information from RGB and thermal modality is the key to give full play to their complementarities for effective RGBT tracking. In this paper, we propose a high performance RGBT tracking framework based on a novel deep adaptive fusion network, named DAFNet. Our DAFNet consists of a recursive fusion chain that could adaptively integrate all layer features in an end-to-end manner. Due to simple yet effective operations in DAFNet, our tracker is able to reach the near-real-time speed. Comparing with the state-of-the-art trackers on two public datasets, our DAFNet tracker achieves the outstanding performance and yields a new state-of-the-art in RGBT tracking.

关键词： Feature extraction Target tracking Robustness Fuses Convolution Adaptive systems

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Multiple phase transitions in networks of directed networks

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Physical Review E 2019年第1期99卷 012312-012312页

作者： Xueming Liu Linqiang Pan H. Eugene Stanley Jianxi Gao Key Laboratory of Image Information Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan 430074 Hubei China Department of Physics Center for Polymer Studies Boston University Boston Massachusetts 02215 USA Department of Computer Science Rensselaer Polytechnic Institute Troy New York 12180 USA

The robustness in real-world complex systems with dependency connectivities differs from that in isolated networks. Although most complex network research has focused on interdependent undirected systems, many real-world networks—such as gene regulatory networks and traffic networks—are directed. We thus develop an analytical framework for examining the robustness of networks made up of directed networks of differing topologies. We use it to predict the phase transitions that occur during node failures and to generate the phase diagrams of a number of different systems, including treelike and random regular (RR) networks of directed Erdős-Rényi (ER) networks and scale-free networks. We find that the the phase transition and phase diagram of networks of directed networks differ from those of networks of undirected networks. For example, the RR networks of directed ER networks show a hybrid phase transition that does not occur in networks of undirected ER networks. In addition, system robustness is affected by network topology in networks of directed networks. As coupling strength q increases, treelike networks of directed ER networks change from a second-order phase transition to a first-order phase transition, and RR networks of directed ER networks change from a second-order phase transition to a hybrid phase transition, then to a first-order phase transition, and finally to a region of collapse. We also find that heterogenous network systems are more robust than homogeneous network systems. We note that there are multiple phase transitions and triple points in the phase diagram of RR networks of directed networks and this helps us understand how to increase network robustness when designing interdependent infrastructure systems.

关键词： Attacks on networks Cascades Continuous phase transition Discontinuous phase transition Network phase transitions Percolation phase transition Random attacks Robustness Topological phase transition

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