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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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SS-WSSS: Small-Scale Weakly Supervised Semantic Segmentation for Histopathology image

SS-WSSS: Small-Scale Weakly Supervised Semantic Segmentation...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Lin, Jiatai Han, Guoqiang Zhou, Jingxuan Shi, Zhenwei Liu, Zaiyi Han, Chu South China University of Technology Guangzhou China Shenzhen China South China University of Technology School of Computer Science and Engineering Guangzhou China Guangdong Provincial Key Laboratory of Artificial Intelligence in Medical Image Analysis and Application Guangzhou China

ISBN: (纸本)9798350386226

Semantic segmentation for histopathology images is one of the fundamental tasks in computational pathology. Due to the high cost of pixel-level annotation acquisition, the weakly supervised semantic segmentation (WSSS) attempts to achieve information-intensive segmentation task for histopathology images to reduce the labeling effort of pathologists by leveraging image-level labels. However, traditional WSSS requires a large-scale training set with image-level labels, which still imposes considerable labeling costs on pathologists. To this end, this work proposes a Small-Scale Weakly Supervised Semantic Segmentation (SS-WSSS) approach to achieve the comparable performance only with small-scale weakly-labeled data to further reduce pathologist's labeling effort. Since histopathology images can easily generate massive unlabeled data, our SS-WSSS aims to learn with the unlabeled data to bridge the information gap. First, we propose a Single-to-Multi Prototype Similarity (S2M-PS) method to generate reliable pseudo-labels for unlabeled data by measuring the similarity between single-label prototypes and multi-label feature maps. Then, we introduce a Cross-Task CoTraining (CT2) method for pseudo-supervision of models with pseudo-labels self-refinement to avoid overfitting to noisy labels. We conduct the experiment on two public datasets to demonstrate the effectiveness of our SS-WSSS. In the experiment, our method achieves comparable performance with SOTA methods only using 30% labeled data. © 2024 IEEE.

关键词： Semantic Segmentation

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A Survey on Multimodal Dialogue Systems: Recent Advances and New Frontiers 5

A Survey on Multimodal Dialogue Systems: Recent Advances and...

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5th International Conference on Advanced Electronic Materials, Computers and Software Engineering, AEMCSE 2022

作者： Liu, Guangya Wang, Shiqi Yu, Jianxing Yin, Jian School of Artificial Intelligence Sun Yat-sen University Guangdong Key Laboratory of Big Data Analysis and Processing Guangzhou510006 China

ISBN: (数字)9781665484749

ISBN: (纸本)9781665484749

Recently, there has been growing interest in the field of multimodal dialogue systems. Different from traditional unimodal dialogue systems, our task needs to understand the context of multiple modalities before responding to users' utterances. In this paper, we present a detailed survey of the recent advances in multimodal dialogue systems and discuss some possible research directions. In particular, we categorize the dialogue systems into two basic tasks, including outputting textual responses and outputting visual responses. In these tasks, there are two main challenges, that is, the heterogeneity gap and the semantic gap. Then, we analyze the key techniques used to solve these challenges. Moreover, we review benchmark datasets and popular evaluation metrics comprehensively. Finally, we give some promising directions for future works. © 2022 IEEE.

关键词： Surveys

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Location and Capacity of Charging Station with Random Spatial-Temporal Distribution of Charging Demands 13

Location and Capacity of Charging Station with Random Spatia...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

作者： Jiang, Man Cao, Zhong Niu, Yinsheng Zhang, Xueyu Liu, Xiao-Kang Yuan, Qi-Fan CentralChina Branch of State Grid Corporation of China Wuhan China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9798350315196

This paper studies the problem of location and capacity for direct charging (DC) fast charging stations (CS). A new model with the random spatial-temporal distribution of charging demands is proposed to plan both the location and capacity for CSs and is modeled as a nonlinear optimization problem with a comprehensive cost function and multi-variable that can be solved by an improved genetic algorithm. Further, the trip chain of EV users is considered to describe the traveling characteristics based on the origin-destination (OD) matrix, and then the Voronoi diagram is used to divide the service area of each CS. The effectiveness of both the model and the improved genetic algorithm is demonstrated through the final simulation results and comparative analyses. © 2023 IEEE.

关键词： Location

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Nested Saturated Control of Uncertain Complex Cascade Systems Using Mixed Saturation Levels

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1163-1174页

作者： Meng Li Zhigang Zeng Wuhan National Laboratory for Optoelectronics Wuhan 430074 School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074 Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan 430074China

This study addresses the problem of global asymptotic stability for uncertain complex cascade systems composed of multiple integrator systems and non-strict feedforward nonlinear systems. To tackle the complexity inherent in such structures, a novel nested saturated control design is proposed that incorporates both constant saturation levels and state-dependent saturation levels. Specifically, a modified differentiable saturation function is proposed to facilitate the saturation reduction analysis of the uncertain complex cascade systems under the presence of mixed saturation levels. In addition, the design of modified differentiable saturation function will help to construct a hierarchical global convergence strategy to improve the robustness of control design scheme. Through calculation of relevant inequalities, time derivative of boundary surface and simple Lyapunov function,saturation reduction analysis and convergence analysis are carried out, and then a set of explicit parameter conditions are provided to ensure global asymptotic stability in the closed-loop systems. Finally, a simplified system of the mechanical model is presented to validate the effectiveness of the proposed method.

关键词： method saturation differentiable

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A CSP-based retraining framework for motor imagery based brain-computer interfaces

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Science China(Information Sciences) 2024年第8期67卷 349-350页

作者： Xue JIANG Lubin MENG Xinru CHEN Dongrui WU Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Shenzhen Huazhong University of Science and Technology Research Institute

Motor imagery(MI) is a classic paradigm of electroencephalogram(EEG)-based brain-computer interfaces(BCIs). It entails individuals mentally imagining the movement of a body part without physically performing it. EEG s... 详细信息

关键词： Classification (of information)

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Bearing Remaining Useful Life Prediction Combining Trajectory Similarity and Relevance Vector Machine 41

Bearing Remaining Useful Life Prediction Combining Trajector...

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第41届中国控制会议

作者： Zhuyi Li Kesen Fan Cong Zhang Sihang Zhang Yiming Wan Key Laboratory of Image Processing and Intelligent Control Ministry of Education Chinaand School of Artificial Intelligence and AutomationHuazhong University of Science and Technology Beijing Institute of Control Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bearing remaining useful life(RUL) prediction is critical for safe operation of rotating *** this paper,we propose a combined RUL prediction approach that leverages both trajectory similarity and relevance vector machine(RVM).The similarity based prediction relies on historical degradation trajectories that are highly similar to the online data,hence would perform poorly if all historical trajectories have low similarity with the online *** RVM based prediction relies solely on a regression model learned from the available online data,thus gives an inaccurate prediction when insufficient data are available in the early stage of degradation.A weighted sum of these above two predictions is proposed to address the limitation of each single prediction method,whose weights are determined by solving a non-negative least squares fitting *** further improve RUL prediction accuracy,we distinguish between fast and slow degradation modes,so that each mode uses a different set of historical degradation trajectories and kernel *** doing so,we predict RUL under the identified *** case study using the PHM2012 dataset demonstrates the effectiveness of the proposed RUL prediction approach.

关键词： Bearing degeneration remaining useful life prediction relevance vector machine trajectory similarity

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Bimodal Feature Propagation and Fusion for Real-time Semantic Segmentation on RGB-D images 7

Bimodal Feature Propagation and Fusion for Real-time Semanti...

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7th International Conference on Intelligent Computing and Signal processing, ICSP 2022

作者： He, Ying Xiao, Li Sun, Zhigang Wang, Zhuo Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Wuhan China

ISBN: (纸本)9781665478571

Semantic Segmentation is the foundation of scene understanding and automatic driving tasks. One of the challenges of semantic segmentation is the reduction of feature resolution as the network goes deep. In this paper, the low-resolution features are integrated into high-resolution features progressively, enabling high-resolution prediction. Currently, incorporating the auxiliary depth information into a semantic segmentation framework has proven to be helpful to improve accuracy. However, additional process of depth data immensely increases computational complexity, resulting in limitation for practical application. Here, a real-time bimodal semantic segmentation network that effectively extracts and fuses complementary information is investigated. Our network extends a light-weight architecture which can seamlessly take advantage of various prevalent backbone networks. Our model extracts RGB and depth features from two branches in parallel and integrates multi-level features of two modalities through bimodal feature fusion blocks. To reduce computation complexity, we employ depth-wise separable convolution while keep performance intact. Meanwhile, an attention mechanism is exploited to recalibrate the fusion modality features adaptively. Refinement components are retained to refine multi-resolution feature maps. We conduct ablative study to demonstrate the availability of our bimodal fusion blocks. Comprehensive experiments validate that the proposed network outperforms the state-of-the-arts and achieves 18 FPS on the challenging RGB-D dataset, NYUDv2. © 2022 IEEE.

关键词： Semantic Segmentation

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EmotionIC: emotional inertia and contagion-driven dependency modeling for emotion recognition in conversation

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Science China(Information Sciences) 2024年第8期67卷 130-146页

作者： Yingjian LIU Jiang LI Xiaoping WANG Zhigang ZENG School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Key Laboratory of Brain-inspired Intelligent Systems Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education Institute of Artificial Intelligence Huazhong University of Science and Technology

Emotion recognition in conversation(ERC) has attracted growing attention in recent years as a result of the advancement and implementation of human-computer interface technologies. In this paper,we propose an emotional inertia and contagion-driven dependency modeling approach(EmotionIC) for ERC tasks. Our EmotionIC consists of three main components, i.e., identity masked multi-head attention(IMMHA), dialogue-based gated recurrent unit(DiaGRU), and skip-chain conditional random field(SkipCRF).Compared to previous ERC models, EmotionIC can model a conversation more thoroughly at both the feature-extraction and classification levels. The proposed model attempts to integrate the advantages of attention-and recurrence-based methods at the feature-extraction level. Specifically, IMMHA is applied to capture identity-based global contextual dependencies, while Dia GRU is utilized to extract speaker-and temporal-aware local contextual information. At the classification level, SkipCRF can explicitly mine complex emotional flows from higher-order neighboring utterances in the conversation. Experimental results show that our method can significantly outperform the state-of-the-art models on four benchmark *** ablation studies confirm that our modules can effectively model emotional inertia and contagion.

关键词： emotion recognition in conversation emotional inertia and contagion multi-head attention gated recurrent unit conditional random field

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A Parallel Read-Write Circuit Design for Driving Memristor Crossbar Array

A Parallel Read-Write Circuit Design for Driving Memristor C...

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2023 International Conference on Neuromorphic Computing, ICNC 2023

作者： Jiang, Ningye Jiang, Mingxuan Zeng, Zhigang Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan430074 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Wuhan430074 China

ISBN: (纸本)9798350316889

Memristor crossbar array is considered as a promising circuit module for accelerating neural networks. Because the memristor is tunable and multi-state, it is important to design applicable Read-Write (RW) circuit for driving memristor crossbar array. In this paper, a novel RW circuit based on analog circuits is proposed for tuning memristors in high-dimensional array parallelly, which is scalable and low-overhead. The standalone RW circuit schematic is presented for reading/writing single memristor and verified in circuit simulation. Then, we extend and apply this circuit into a two-dimensional memristor crossbar array. The performance of memristor crossbar array controlled by designed RW circuits is verified via the simulations under various machine learning datasets. The comparison with related works is presented, which demonstrates the advantages of the proposed RW circuit regarding overhead and anti-error. © 2023 IEEE.

关键词： Memristors

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