检索结果-内蒙古大学图书馆

arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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A parallel framework for scene understanding 1

A parallel framework for scene understanding

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Zhang, Wenwen Wang, Jiangong Wang, Kunfeng School of Software Engineering Xi'An Jiaotong University Xi'an710049 China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing100190 China College of Information Science and Technology Beijing University of Chemical Technology Beijing100029 China

ISBN: (纸本)9781665433372

Different related computer vision tasks make it possible to understand and analyze the scene totally. However, there is no useful framework combining different tasks for scene understanding. In this paper, we investigate the current state of scene understanding from different aspects relying on different computer vision tasks and propose an effective framework based on the theory of parallel vision to combine different tasks for scene understanding. With the maintained artificial scene throughout time from the proposed framework, we can understand the scene in an elegant way. To explain our proposed framework, a case study is given. © 2021 IEEE.

关键词： computer vision

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Multi-segment Bidding Behaviors of Power Units: Price-capacity-pair Analysis and Modeling 36

Multi-segment Bidding Behaviors of Power Units: Price-capaci...

引用

36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Hou, Shuangshuang Wang, Ying Li, Lili Zhao, Jing Ning, Jia Zhang, Kaifeng Southeast University College of Software Suzhou China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China State Grid Electric Power Research Institute Nari Group Corporation Nanjing China Nanjing Institute of Technology School of Electric Power Engineering Nanjing China

ISBN: (纸本)9781665437127

With the deregulation of the power market, power units are allowed to make strategic biddings. The bidding results of the strategic bidding market are substantially different from the ones in the previous regulated market. Such differences in the bidding results will further have impacts on the power flow and system security. Thus, it is important to analyze and establish a model to simulate the bidding behaviors of the power units. This paper proposes a price-capacity-pairs model to simulate multi-segment bidding behavior. We select five vital factors that affect biddings behaviors as input: load, capacity, supply-demand ratio, bidders' bidding tendency and unit type. Based on the three-segment bidding rule, the price-capacity pair is used. For uncertain price or capacity, we choose a truncated normal distribution model. Scenario generation and reduction are achieved by Monte Carlo simulation and fuzzy C-means clustering algorithm. We apply our method to a case study based on Guangdong's market in China. The simulation of wind power units, coal power units and gas power units has verified the correctness of the model. © 2021 IEEE.

关键词： Power markets

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Fuzzy Granule Density-Based Outlier Detection with Multi-Scale Granular Balls

arXiv

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arXiv 2025年

作者： Gao, Can Tan, Xiaofeng Zhou, Jie Ding, Weiping Pedrycz, Witold The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen518060 China The National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen518060 China The School of Artificial Intelligence and Computer Science Nantong University Nantong226019 China The Faculty of Data Science City University of Macau Macau999078 China The Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Systems Research Institute Polish Academy of Sciences Warsaw Poland The Department of Electrical and Computer Engineering King Abdulaziz University Jeddah Saudi Arabia The Department of Computer Engineering Istinye University Istanbul Turkey

Outlier detection refers to the identification of anomalous samples that deviate significantly from the distribution of normal data and has been extensively studied and used in a variety of practical tasks. However, most unsupervised outlier detection methods are carefully designed to detect specified outliers, while real-world data may be entangled with different types of outliers. In this study, we propose a fuzzy rough sets-based multi-scale outlier detection method to identify various types of outliers. Specifically, a novel fuzzy rough sets-based method that integrates relative fuzzy granule density is first introduced to improve the capability of detecting local outliers. Then, a multi-scale view generation method based on granular-ball computing is proposed to collaboratively identify group outliers at different levels of granularity. Moreover, reliable outliers and inliers determined by the three-way decision are used to train a weighted support vector machine to further improve the performance of outlier detection. The proposed method innovatively transforms unsupervised outlier detection into a semi-supervised classification problem and for the first time explores the fuzzy rough sets-based outlier detection from the perspective of multi-scale granular balls, allowing for high adaptability to different types of outliers. Extensive experiments carried out on both artificial and UCI datasets demonstrate that the proposed outlier detection method significantly outperforms the state-of-the-art methods, improving the results by at least 8.48% in terms of the Area Under the ROC Curve (AUROC) index. The source codes are released at https://***/Xiaofeng-Tan/MGBOD. © 2025, CC BY.

关键词： Granulation

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Exploiting crowd-based learning method in software engineering course 15

Exploiting crowd-based learning method in software engineeri...

引用

15th International Conference on computer Science and Education, ICCSE 2020

作者： Mao, Xinjun Lu, Yao Yang, Yi National University of Defense Technology Key Lab. of Software Engineering for Complex Systems Changsha China National University of Defense Technology College of Computer Changsha China

ISBN: (纸本)9781728172675

software engineering is one of main major course for computer science. The main objective of this course is to improve the engineering capabilities of students to develop complex software systems. However, current course practice methods are teacher-centered and thus highly depend on the limited talents, experiences and efforts of teachers. Such methods greatly restrict students' scopes to gain necessary skills and artifacts, and to draw on successful experiences to address various personalized engineering issues and therefore enhance abilities to tackle engineering complexity. This paper presents a crowd-based learning method and introduces our exploration to use the method to reform the software engineering course practice. The essence of our exploration is to exploit the wisdoms and artifacts of crowds over Internet to support students to accomplish their course projects. The former is the engineering knowledges shared in question and answering (QA) platforms such as StackOverflow, and the latter is the open source software (OSS) hosted in OSS sites such as GitHub. We use the method in two separate course practices that aim to improve students' abilities to develop original, high-quality and large-scale software systems. The results of three-year explorations are positive and impressive and show that the crowd-based learning method is effective. © 2020 IEEE.

关键词： Open source software

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Deficient Excitation in Parameter Learning

arXiv

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arXiv 2025年

作者： Cao, Ganghui Wang, Shimin Guay, Martin Wang, Jinzhi Duan, Zhisheng Polycarpou, Marios M. State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China Massachusetts Institute of Technology CambridgeMA02139 United States Queen’s University KingstonONK7L 3N6 Canada KIOS Research and Innovation Center of Excellence Department of Electrical and Computer Engineering University of Cyprus Nicosia1678 Cyprus

This paper investigates parameter learning problems under deficient excitation (DE). The DE condition is a rank-deficient, and therefore, a more general evolution of the well-known persistent excitation condition. Under the DE condition, a proposed online algorithm is able to calculate the identifiable and non-identifiable subspaces, and finally give an optimal parameter estimate in the sense of least squares. In particular, the learning error within the identifiable subspace exponentially converges to zero in the noise-free case, even without persistent excitation. The DE condition also provides a new perspective for solving distributed parameter learning problems, where the challenge is posed by local regressors that are often insufficiently excited. To improve knowledge of the unknown parameters, a cooperative learning protocol is proposed for a group of estimators that collect measured information under complementary DE conditions. This protocol allows each local estimator to operate locally in its identifiable subspace, and reach a consensus with neighbours in its non-identifiable subspace. As a result, the task of estimating unknown parameters can be achieved in a distributed way using cooperative local estimators. Application examples in system identification are given to demonstrate the effectiveness of the theoretical results developed in this paper. Copyright © 2025, The Authors. All rights reserved.

关键词： Contrastive Learning

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Word-level BERT-CNN-RNN Model for Chinese Punctuation Restoration 6

Word-level BERT-CNN-RNN Model for Chinese Punctuation Restor...

引用

6th IEEE International Conference on computer and Communications, ICCC 2020

作者： Zhang, Zhe Liu, Jie Chi, Lihua Chen, Xinhai Science and Technology on Parallel and Distributed Processing Laboratory Laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China College of Computer Science and Electronic Engineering Hunan University Changsha China

ISBN: (纸本)9781728186351

Punctuation restoration in speech recognition has a wide range of application scenarios. Despite the widespread success of neural networks methods at performing punctuation restoration for English, there have been only limited attempts for Chinese punctuation restoration. Due to the differences between Chinese and English in terms of grammar and basic semantic units, existing methods for English is not suitable for Chinese punctuation restoration. To tackle this problem, we propose a hybrid model combining the kernel of Bidirectional Encoder Representations from Transformers (BERT), Convolution Neural Network (CNN) and Recurrent Neural Network (RNN). This model employs a flexible structure and special CNN design which can extract word-level features for Chinese language. We compared the performance of the hybrid model with five widely-used punctuation restoration models on the public dataset. Experimental results demonstrate that our hybrid model is simple and efficient. It outperforms other models and achieves an accuracy of 69.1%. © 2020 IEEE.

关键词： Recurrent neural networks

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Towards Gradient Equalization and Feature Diversification for Long-Tailed Multi-Label Image Recognition

SSRN

引用

SSRN 2023年

作者： Chen, Zhaomin Cui, Quan Zhang, Xiaoqin Deng, Ruoxi Xia, Chaoqun Lu, Shijian The National Key Laboratory for Novel Software Technology Nanjing University Nanjing210023 China The College of Computer Science Artificial Intelligence Wenzhou University Wenzhou325035 China The Graduate School of Information Production and Systems Waseda University Fukuoka1698050 Japan School of Computer Science and Engineering Nanyang Technological University 639798 Singapore

Multi-label image recognition with convolutional neural networks has achieved remarkable progress in the past few years. However, most existing multi-label image recognition methods suffer from the long-tailed data distribution problem, \ie, head categories occupy most training samples, while tailed classes have few samples. This work firstly studies the influence of long-tailed data distribution on existing multi-label image recognition methods. Based on this, two crucial issues of the existing methods are identified: 1) severe gradient imbalance between head and tailed categories, even though re-balancing strategies are adopted;2) the lack of diversity of tail category training samples. To tackle the first issue, this paper proposes a group sampling strategy to create group-wise balanced data distribution. Meanwhile, a dynamic gradient balancing loss is proposed to equalize the gradient for all categories. To tackle the second issue, this paper proposes a diversity enhancement module to fuse the information across all categories, preventing the network from overfitting tail classes. Furthermore, it also balances the gradient, promoting the discriminability of learned classifiers. Our method significantly outperforms the baseline method and achieves competitive performance with state-of-the-art methods on VOC-LT and COCO-LT datasets. Extensive ablation studies are conducted to verify the effectiveness of the essential proposals. © 2023, The Authors. All rights reserved.

关键词： Image recognition

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Hydrodynamic bound states of rotating micro-cylinders in a confining geometry

arXiv

引用

arXiv 2023年

作者： Guo, Hanliang Man, Yi Zhu, Hai Department of Mathematics and Computer Science Ohio Wesleyan University DelawareOH43015 United States Department of Mechanics and Engineering Science College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing100871 China Center for Computational Mathematics Flatiron Institute New YorkNY10010 United States

Many micro-swimmers propel themselves by rotating micro-cylindrical organelles such as flagella or cilia. These cylindrical organelles almost never live in free space, yet their motions in a confining geometry can be counter-intuitive. For example, one of the intriguing yet classical results in this regard is that a rotating cylinder next to a plane wall does not generate any net force in Newtonian fluids and therefore does not translate. In this work, we employ analytical and numerical tools to investigate the motions of micro-cylinders under prescribed torques in a confining geometry. We show that a cylinder pair can form four non-trivial hydrodynamic bound states depending on the relative position within the confinement. Our analysis shows that the distinct states are the results of competing effects of the hydrodynamic interactions within the cylinder pair and between the active cylinders and the confinement. © 2023, CC BY.

关键词： Cylinders (shapes)

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Hierarchical Knowledge Representation of complex Tasks Based on Dynamic Motion Primitives 7th

Hierarchical Knowledge Representation of Complex Tasks Based...

引用

7th International Conference on Cognitive systems and Information Processing, ICCSIP 2022

作者： Miao, Shengyi Zhong, Daming Miao, Runqing Sun, Fuchun Wen, Zhenkun Huang, Haiming Zhang, Xiaodong Wang, Na College of Electronics and Information Engineering Shenzhen University Shenzhen518060 China College of Modern Post Beijing University of Posts and Telecommunications Beijing100083 China Department of Computer Science and Technology Tsinghua University Beijing100083 China College of Computer Science and Software Shenzhen University Shenzhen518060 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing100083 China

ISBN: (纸本)9789819906161

Current service robots without learning ability are not qualified for many complex tasks. Therefore, it is very significant to decompose the complex task into repeatable execution unit. In this paper, we propose a complex task representation method based on dynamic motion primitives, and use hierarchical knowledge graph to represent the analytic results of complex tasks. To realize the execution of complex robot manipulation tasks, we decompose the semantic tasks into the minimum motion units that can be executed by the robot and combine the multi-modal information: posture, force and robot joint parameters, obtained by the sensors. We use the knowledge graph to record the end-effector required by the robot to perform different tasks and make appropriate selection of end-effector according to different needs. Finally, Taking the long sequence complex task of service scene as an example, we use UR5 robot to verify the effectiveness and feasibility of this design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： End effectors

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