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arXiv 2024年

作者： Guo, Bowen Zhai, Chao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-exploration Ministry of Education Wuhan430074 China

Extensive experiments suggest that motor coordination among human participants may contribute to social affinity and emotional attachment, which has great potential in the clinical treatment of social disorders or schizophrenia. Mirror game provides an effective experimental paradigm for studying social motor coordination. Nevertheless, the lack of movement richness prevents the emergence of high-level coordination in the existing one-dimensional experiments. To tackle this problem, this work develops a two-dimensional experimental paradigm of mirror game by playing waggle dance between two participants. In particular, an online control architecture of customized virtual player is created to coordinate with human player. Therein, an iterative learning control algorithm is proposed by integrating position tracking and behavior imitation with prescribed kinematic feature. Moreover, convergence analysis of control algorithm is conducted to guarantee the online performance of virtual player. Finally, the proposed control strategy is validated by matching experimental data and compared with other control methods using a set of performance indexes. Copyright © 2024, The Authors. All rights reserved.

关键词： Mirrors

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Deep Convolutional Correlation Filter Learning Toward Robust Visual Object Tracking

Deep Convolutional Correlation Filter Learning Toward Robust...

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第34届中国控制与决策会议

作者： Tayssir Bouraffa Zihang Feng Yuxuan Wang Liping Yan Yuanqing Xia Bo Xiao Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology School of Artificial Intelligence Beijing University of Posts and Telecommunications

Recently,convolutional neural network has been pervasively adopted in visual object tracking for its potential in discriminating the target from the surrounding *** of the visual object trackers extract deep features from a specific layer,generally from the last convolutional ***,these trackers are less effective,especially when the target undergoes drastic appearance variations caused by the presence of different challenging situations,such as occlusion,illumination change,background clutter and so *** this research paper,a novel tracking algorithm is developed by introducing an elastic net constraint and a contextual information into the convolutional network to successfully track the desired target throughout a video *** features are extracted from the shallow and the deep convolutional layers to further improve the tracking accuracy and *** the deep convolutional layers capture important semantic information,they are more robust to the target appearance *** for the shallow convolutional layers,they encode significant spatial details,which are more accurate to precisely localize the desired ***,Peak-Strength Context-Aware correlation filters are embedded to each convolutional layer output that produce multi-level convolutional response maps to collaboratively identify the estimated position of the target in a coarse-to-fine *** and qualitative experiments are performed on the widely used benchmark,the OTB-2015 dataset that shows impressive results compared to the state-of-the-art trackers.

关键词： Visual tracking convolutional neural network correlation filters hierarchical features

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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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Integrated Prediction of Unfavorable Geology in Main Tunnel Considering the Geological Conditions of Parallel Tunnel

Integrated Prediction of Unfavorable Geology in Main Tunnel ...

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Chinese automation Congress (CAC)

作者： Meng Zhang Chao Gan Weihua Cao School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Currently, the advanced geological prediction for the main tunnel from the parallel tunnel often employs parallel deduction of detection conclusions, which faces issues such as a lack of diverse geological exploration information, a lack of analysis of geological structures and poor accuracy. In this paper, an integrated prediction method for unfavorable geology in main tunnel considering the geological conditions of parallel tunnel is proposed, which consists of three stages. In the first stage, based on the forecast mileage range and tunnel excavation conditions, the process is divided into four specific cases. In the second stage, it deduces the geology of the main tunnel along the orientation of rock strata occurrence or joint to parallel tunnel and selects the results of the rock strata occurrence or joint deduction according to the distance of the deduction. In the last stage, it deduces the geological conditions of parallel tunnel face and the integration of geophysical and drilling information for predictive conclusions based on the four specific cases. The proposed method offers higher prediction accuracy for rock mass integrity and surrounding rock grades compared to parallel deduction method.

关键词： Drilling Accuracy automation Prediction methods Rocks Excavation Faces

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Primal-dual Accelerated Mirror-Descent Method for Constrained Bilinear Saddle-Point Problems

arXiv

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arXiv 2024年

作者： Li, Weijian Zeng, Xianlin Pavel, Lacra The Department of Electrical and Computer Engineering University of Toronto TorontoONM5S 3G4 Canada The Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

We develop a first-order accelerated algorithm for a class of constrained bilinear saddle-point problems with applications to network systems. The algorithm is a modified time-varying primal-dual version of an accelerated mirror-descent dynamics. It deals with constraints such as simplices and convex set constraints effectively, and converges with a rate of O(1/t2). Furthermore, we employ the acceleration scheme to constrained distributed optimization and bilinear zero-sum games, and obtain two variants of distributed accelerated algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Mirrors

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A Swing-Up and Stable control Strategy for Pendubot Based on Nonlinear Model Predictive Method

A Swing-Up and Stable Control Strategy for Pendubot Based on...

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2023 China automation Congress, CAC 2023

作者： Wang, Lejun Liu, Yiqin Zhang, Ruihuan Huang, Zixin Cai, Zhen School of Automation School of Industrial Internet Chongqing University of Posts and Telecommunications Chongqing400065 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China School of Information Engineering Wuhan City Polytechnic Wuhan430064 China

ISBN: (纸本)9798350303759

The control objective of Pendubot is to stabilise the system in a vertically upward position by swinging up from a vertically downward position. Facing various physical constraints in practical applications, this paper proposes a swing-up stabil-isation control strategy based on a nonlinear model prediction method to accomplish the above control objective. On the basis of the system dynamics model, the forward Euler method is used to construct a nonlinear prediction model of the system. According to the control objectives and physical constraints of the system, the performance index function is designed, and then the control inputs of each sampling cycle are obtained through rolling optimisation and feedback correction, so that the system state gradually converges to the target trajectory, thus achieving the motion control objective. Based on the simulation results, it can be seen that the strategy proposed in this paper is efficient and robust under external disturbances. © 2023 IEEE.

关键词： Model predictive control

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Localization of Small Targets in Smart Grain Warehouse Based on VAE-LSTM 3rd

Localization of Small Targets in Smart Grain Warehouse Bas...

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3rd International Conference on Cyberspace Simulation and Evaluation, CSE 2024

作者： Tian, Ping Liu, Jianlong Su, Yingxian Chen, Guanxi Zhang, Bin Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou China Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Yuen Long China School of Automation Guangdong University of Technology Guangzhou510006 China

ISBN: (纸本)9789819645053

The tracing and localizing of invasive animal is becoming important for ensuring grain safety during grain storage with the improvement of ecological environment. At present, invasive animals of warehouse are detected and tracked manually by regular inspection with low efficiency and quality. This paper proposes a modified variational auto-encoder (VAE) structure with LSTM for small invasive animal localization that makes full advantage of the temporal and spatial information of trajectories. VAE-LSTM model comprises a pre-processing module and a localization model. In the former one, detected point cloud data are filtered into a moving track. And then the tracking series are fed into the last one where the dependencies cross time are learned with encoder layer with LSTM and each position dimension of the track is constructed through a decoder with another LSTM. The experiment results show the proposed model makes accurate small targets localization and has a fast localization speed. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Smart city

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Multi-modal Based Fuzzy Atmosfield in Human-robot Interaction

Multi-modal Based Fuzzy Atmosfield in Human-robot Interactio...

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第42届中国控制会议

作者： Xin-Heng Li Zhen-Tao Liu School of Automation China University of Geosciences(Wuhan) Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

Recently,the emotional robot has basic functions of perceiving and expressing emotions,but it still hard to communicate naturally between humans and *** major reason is that communication atmosphere is seldom considered in Human-robot Interaction(HRI).We propose Multi-modal(i.e.,music background,speech,and semantics) Based Fuzzy Atmosfield(FA),which can not only realize the dynamic adjustment of FA but also dynamically regulate human *** the experiment,a Pepper robot is used and one hundred volunteers are invited for HRI,and soothing piano pieces are used as background *** were filled by the volunteers after the experiments,from which the results show that 90% of the volunteers felt the dynamic changes in the communication atmosphere and 77% of the volunteers felt significant emotional regulation,which demonstrates the effectiveness of our method.

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Data-driven control of consensus tracking for discrete-time multi-agent systems

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Journal of the Franklin Institute 2023年第7期360卷 4661-4674页

作者： Xiufeng Zhang Gang Wang Jian Sun Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming 650504 China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming 650504 China School of Automation Beijing Institute of Technology Beijing 100081 China Key Lab of Intelligent Control and Decision of Complex Systems Beijing 100081 China

This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results.

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NN-Based Prescribed-Time control for Nonlinear Multiagent systems with Switching Topologies

NN-Based Prescribed-Time Control for Nonlinear Multiagent Sy...

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Neuromorphic Computing (ICNC), International Conference on

作者： Yonghua Peng Hongru Ren Yang Liu Hui Ma Qi Zhou Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control School of Automation Guangdong University of Technology Guangzhou China School of Automation and Electronics Engineering Qingdao University of Science and Technology Qingdao China School of Mathematics and Statistics Guangdong University of Technology Guangzhou China

ISBN: (数字)9798331508661

ISBN: (纸本)9798331508678

This paper focuses on prescribed-time control for nonlinear multiagent systems (MASs) with switching topologies. To address the discontinuity issue of the reference signal caused by switching communication topologies, a distributed estimator is devised to obtain a bounded continuous reference signal. Subsequently, a high-order filter is introduced to generate a high-order differential reference signal. Furthermore, a prescribed-time consensus control protocol is developed, which ensures the tracking error remains within a prescribed range during the prescribed time from any initial position. The unknown nonlinearities within the MASs are approximated using neural networks. Finally, the effectiveness of the proposed control protocol is validated through simulation experiments.

关键词： Protocols Network topology Neuromorphic engineering Switches Artificial neural networks Radial basis function networks Consensus control control systems Topology Multi-agent systems

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