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Path-following Control of Fish-like Robots: A Deep Reinforcement Learning Approach ⁎

IFAC-PapersOnLine 2020年第2期53卷 8163-8168页

作者： Tianhao Zhang Runyu Tian Chen Wang Guangming Xie National Engineering Research Center for Software Engineering Peking University Beijing 100871 China The State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing 100871 China Institute of Ocean Research Peking University Beijing 100871 China

In this paper, we propose a deep reinforcement learning (DRL) approach for path-following control of a fish-like robot. The desired path may be a randomly generated Bézier curve. First, to implement the locomotion control of the fish-like robot, we design a modified Central Pattern Generated (CPG) model, using which the fish achieves varied swimming behaviors just by adjusting a single control input. To reduce the reality gap between simulation and the physical system, using the experimental data of the real fish-like robot, we build a surrogate simulation environment, which also well balances the accuracy and the speed of training. Second, for the path-following control, we select the advantage actor-critic (A2C) approach and train the control policy in the surrogate simulation environment with a straight line as the desired path. Then the trained control policy is directly deployed on a physical fish-like robot to follow a randomly generated Bézier curve. The experimental results show that our proposed approach has good practical applicability in view of its efficiency and feasibility in controlling the physical fishlike robot. This work shows a novel and promising way to control biomimetic underwater robots in the real world.

关键词： Reinforcement learning control autonomous underwater vehicles biomimetic underwater robots path following deep learning

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Attention based Graph Covolution Networks for Intelligent Traffic Flow Analysis

Attention based Graph Covolution Networks for Intelligent Tr...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Hongxin Zhang Jiaxin Liu Ying Tang Gang Xiong State Key Lab of CAD & CG Zhejiang University China College of Software Engineering Zhejiang University of Technology China State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Predicting traffic flow is one of the fundamental issue to smart cities. However it is still challenging in vehicular cyber-physical systems because of ever-increasing urban traffic data. Most previous models for traffic flow prediction suffers the problem with variance error depends on time and location. In this paper, a novel graph convolution network (GCN) approach is proposed for predicting citywide traffic flow. Our key idea is to introduce spatial and temporal attention to the GCN model to lessen the impact of urban data complexity. A framework of flow-based graph convolutional network is established to improve traffic flow prediction while investigating the spatial and temporal correlation of traffic flow. We further propose practical strategies that efficiently learn parameters of the model. Experimental results demonstrate that the proposed approach to traffic flow prediction outperforms state-of-the-art approaches.

关键词： Predictive models Data models Analytical models Convolution Urban areas Chebyshev approximation Roads

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MFPN-6D : Real-time One-stage Pose Estimation of Objects on RGB Images

MFPN-6D : Real-time One-stage Pose Estimation of Objects on ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Penglei Liu Qieshi Zhang Jin Zhang Fei Wang Jun Cheng CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing China The Chinese University of Hong Kong Hong Kong China The College of Computer Science and Software Engineering Shenzhen University China

6D pose estimation of objects is an important part of robot grasping. The latest research trend on 6D pose estimation is to train a deep neural network to directly predict the 2D projection position of the 3D key points from the image, establish the corresponding relationship, and finally use Pespective-n-Point (PnP) algorithm performs pose estimation. The current challenge of pose estimation is that when the object texture-less, occluded and scene clutter, the detection accuracy will be reduced, and most of the existing algorithm models are large and cannot take the real-time requirements. In this paper, we introduce a Multi-directional Feature Pyramid Network, MFPN, which can efficiently integrate and utilize features. We combined the Cross Stage Partial Network (CSPNet) with MFPN to design a new network for 6D pose estimation, MFPN-6D. At the same time, we propose a new confidence calculation method for object pose estimation, which can fully consider spatial information and plane information. At last, we tested our method on the LINEMOD and Occluded-LINEMOD datasets. The experimental results demonstrate that our algorithm is robust to textureless materials and occlusion, while running more efficiently compared to other methods.

关键词： Deep learning Three-dimensional displays Conferences Pose estimation Grasping Prediction algorithms Market research

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Deep Rank-Consistent Pyramid Model for Enhanced Crowd Counting

arXiv

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arXiv 2022年

作者： Gao, Jiaqi Huang, Zhizhong Lei, Yiming Shan, Hongming Wang, James Z. Wang, Fei-Yue Zhang, Junping The Shanghai Key Laboratory of Intelligent Information Processing School of Computer Science Fudan University Shanghai200433 China The Institute of Science and Technology for Brain-inspired Intelligence MOE Frontiers Center for Brain Science Fudan University Shanghai200433 China The Shanghai Center for Brain Science and Brain-Inspired Technology Shanghai201210 China The College of Information Sciences and Technology The Pennsylvania State University University ParkPA16802 United States The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The Institute of Systems Engineering Macau University of Science and Technology China Qingdao Academy of Intelligent Industries Qingdao266109 China

Most conventional crowd counting methods utilize a fully-supervised learning framework to establish a mapping between scene images and crowd density maps. They usually rely on a large quantity of costly and time-intensive pixel-level annotations for training supervision. One way to mitigate the intensive labeling effort and improve counting accuracy is to leverage large amounts of unlabeled images. This is attributed to the inherent self-structural information and rank consistency within a single image, offering additional qualitative relation supervision during training. Contrary to earlier methods that utilized the rank relations at the original image level, we explore such rank-consistency relation within the latent feature spaces. This approach enables the incorporation of numerous pyramid partial orders, strengthening the model representation capability. A notable advantage is that it can also increase the utilization ratio of unlabeled samples. Specifically, we propose a Deep Rank-consistEnt pyrAmid Model (DREAM), which makes full use of rank consistency across coarse-to-fine pyramid features in latent spaces for enhanced crowd counting with massive unlabeled images. In addition, we have collected a new unlabeled crowd counting dataset, FUDAN-UCC, comprising 4,000 images for training purposes. Extensive experiments on four benchmark datasets, namely UCF-QNRF, ShanghaiTech PartA and PartB, and UCF-CC-50, show the effectiveness of our method compared with previous semi-supervised methods. The codes are available at https://***/bridgeqiqi/DREAM. Copyright © 2022, The Authors. All rights reserved.

关键词： Image enhancement

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A Learning Convolutional Neural Network Approach for Network Robustness Prediction

arXiv

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arXiv 2022年

作者： Lou, Yang Wu, Ruizi Li, Junli Wang, Lin Li, Xiang Chen, Guanrong The Department of Computing and Decision Sciences Lingnan University Hong Kong The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The College of Computer Science Sichuan Normal University Chengdu610066 China The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Institute of Complex Networks and Intelligent Systems Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai201210 China The Department of Control Science and Engineering Tongji University Shanghai200240 China The Department of Electrical Engineering City University of Hong Kong Hong Kong

Network robustness is critical for various societal and industrial networks again malicious attacks. In particular, connectivity robustness and controllability robustness reflect how well a networked system can maintain its connectedness and controllability against destructive attacks, which can be quantified by a sequence of values that record the remaining connectivity and controllability of the network after a sequence of node- or edge-removal attacks. Traditionally, robustness is determined by attack simulations, which are computationally very time-consuming or even practically infeasible. In this paper, an improved method for network robustness prediction is developed based on learning feature representation using convolutional neural network (LFR-CNN). In this scheme, higher-dimensional network data are compressed to lower-dimensional representations, and then passed to a CNN to perform robustness prediction. Extensive experimental studies on both synthetic and real-world networks, both directed and undirected, demonstrate that 1) the proposed LFR-CNN performs better than other two state-of-the-art prediction methods, with significantly lower prediction errors;2) LFR-CNN is insensitive to the variation of the network size, which significantly extends its applicability;3) although LFR-CNN needs more time to perform feature learning, it can achieve accurate prediction faster than attack simulations;4) LFR-CNN not only can accurately predict network robustness, but also provides a good indicator for connectivity robustness, better than the classical spectral measures. © 2022, CC BY.

关键词： complex networks

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Symbolic genetic algorithm for discovering open-form partial differential equations (SGA-PDE)

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Physical Review Research 2022年第2期4卷 023174-023174页

作者： Yuntian Chen Yingtao Luo Qiang Liu Hao Xu Dongxiao Zhang Eastern Institute for Advanced Study Yongriver Institute of Technology Ningbo Zhejiang 315201 People's Republic of China Department of Computer Science University of Washington Seattle Washington 98195 USA RealAI Beijing 100085 People's Republic of China Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT) Energy and Resources Engineering (ERE) and State Key Laboratory for Turbulence and Complex Systems (SKLTCS) College of Engineering Peking University Beijing 100871 People's Republic of China National Center for Applied Mathematics Shenzhen (NCAMS) Southern University of Science and Technology Shenzhen Guangdong 518055 People's Republic of China Department of Mathematics and Theories Peng Cheng Laboratory Shenzhen Guangdong 518000 People's Republic of China

Partial differential equations (PDEs) are concise and understandable representations of domain knowledge, which are essential for deepening our understanding of physical processes and predicting future responses. However, the PDEs of many real-world problems are uncertain, which calls for PDE discovery. We propose the symbolic genetic algorithm to discover open-form PDEs (SGA-PDE) directly from data without prior knowledge about the equation structure. SGA-PDE focuses on the representation and optimization of PDEs. Firstly, SGA-PDE uses symbolic mathematics to realize the flexible representation of any given PDE, transforms a PDE into a forest, and converts each function term into a binary tree. Secondly, SGA-PDE adopts a specially designed genetic algorithm to efficiently optimize the binary trees by iteratively updating the tree topology and node attributes. The SGA-PDE is gradient free, which is a desirable characteristic in PDE discovery since it is difficult to obtain the gradient between the PDE loss and the PDE structure. In the experiment, SGA-PDE not only successfully discovered the nonlinear Burgers’ equation, the Korteweg–de Vries equation, and the Chafee-Infante equation but also handled PDEs with fractional structure and compound functions that cannot be solved by conventional PDE discovery methods.

关键词： Classical statistical mechanics complex fluids Neuronal dynamics Shock waves Turbulence

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Multi-Objective Squirrel Search Algorithm for EEG Feature Selection

SSRN

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SSRN 2022年

作者： Wang, Chao Li, Songjie Shi, Miao Zhao, Jie Acharya, U. Rajendra Xie, Neng-Gang Cheong, Kang Hao College of Civil Engineering and Architecture Anhui Polytechnic University Anhui Wuhu241000 China Anhui Province Key Laboratory of Multidisciplinary Management and Control of Complex Systems Anhui Ma’anshan 243002 China Department of Management science and Engineering Anhui University of Technology Anhui Maanshan243002 China 8 Somapah Road Singapore487372 Singapore Department of Mechanical Engineering Anhui University of Technology Maanshan243002 China Department of Electronics and Computer Engineering Ngee Ann Polytechnic S599489 Singapore Department of Biomedical Engineering School of Science and Technology SUSS University Singapore Department of Biomedical Informatics and Medical Engineering Asia University Taichung Taiwan

Feature selection plays a critical role in the application of Brain computer Interface (BCI) systems. Many methods have been used to solve the feature selection problem, but they model it as a single-objective problem, considering only classification accuracy or number of features. To close this critical gap, we improve the squirrel search algorithm by combining it with the grid method, and propose a Multi-Objective Squirrel Search Algorithm (MOSSA) to solve the feature selection problem in BCI. We conduct experiments on three publicly available motion imagery datasets, and the experimental results reveal the best classification results of the method on dataset 1. The average classification accuracy of dataset 2 is 96.71%, with the number of selected features reduced to 18 on average. The highest classification accuracy of dataset 3 is 83.57% on the training set and 82.86% on the test set. In addition, we compare MOSSA with other algorithms and the results show the superiority of our proposed method in solving the feature selection problem. Finally, we combine MOSSA with an online application of BCI, where subjects visualise controlling the robot to perform the corresponding actions by the left and right hand movements. The average recognition rate of the three subjects is approximately 70%. In summary, the MOSSA is an effective method for solving the feature selection problem and is useful for the development of online © 2022, The Authors. All rights reserved.

关键词： Brain computer interface

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A novel Skin lesion prediction and classification technique: ViT-GradCAM

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Skin research and technology : official journal of International Society for Bioengineering and the Skin (ISBS) [and] International Society for Digital Imaging of Skin (ISDIS) [and] International Society for Skin Imaging (ISSI) 2024年第9期30卷 e70040页

作者： Muhammad Shafiq Kapil Aggarwal Jagannathan Jayachandran Gayathri Srinivasan Rajasekhar Boddu Adugna Alemayehu School of Information Engineering Qujing Normal University Qujing China. Key Laboratory of Intelligent Sensor and System Design College of Information Engineering Qujing Normal University Qujing China. Department of CSE Koneru Lakshmaiah Education Foundation Vaddeswaram Andhra Pradesh India. Department of Software and Systems Engineering School of Computer Science Engineering and Information Systems Vellore Institute of Technology Katpadi Vellore India. Department of Computer Science and Engineering Sathyabama Institute of Science and Technology Chennai India. Department of AIML Gokaraju Rangaraju Institute of Engineering and Technology Bachupally Hyderabad India. Lecturer in Software Engineering Wachemo University Hosaina Ethiopia.

BACKGROUND:Skin cancer is one of the highly occurring diseases in human life. Early detection and treatment are the prime and necessary points to reduce the malignancy of infections. Deep learning techniques are supplementary tools to assist clinical experts in detecting and localizing skin lesions. Vision transformers (ViT) based on image segmentation classification using multiple classes provide fairly accurate detection and are gaining more popularity due to legitimate multiclass prediction capabilities. MATERIALS AND METHODS:In this research, we propose a new ViT Gradient-Weighted Class Activation Mapping (GradCAM) based architecture named ViT-GradCAM for detecting and classifying skin lesions by spreading ratio on the lesion's surface area. The proposed system is trained and validated using a HAM 10000 dataset by studying seven skin lesions. The database comprises 10 015 dermatoscopic images of varied sizes. The data preprocessing and data augmentation techniques are applied to overcome the class imbalance issues and improve the model's performance. RESULT:The proposed algorithm is based on ViT models that classify the dermatoscopic images into seven classes with an accuracy of 97.28%, precision of 98.51, recall of 95.2%, and an F1 score of 94.6, respectively. The proposed ViT-GradCAM obtains better and more accurate detection and classification than other state-of-the-art deep learning-based skin lesion detection models. The architecture of ViT-GradCAM is extensively visualized to highlight the actual pixels in essential regions associated with skin-specific pathologies. CONCLUSION:This research proposes an alternate solution to overcome the challenges of detecting and classifying skin lesions using ViTs and GradCAM, which play a significant role in detecting and classifying skin lesions accurately rather than relying solely on deep learning models.

关键词： Grad‐CAM Multi‐Headed Self attention (MSA) linear patch projection multilayer perceptron (MLP) skin lesion transformer encoder vision transformer (ViT)

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DeepFlame: A deep learning empowered open-source platform for reacting flow simulations

arXiv

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arXiv 2022年

作者： Mao, Runze Lin, Minqi Zhang, Yan Zhang, Tianhan John Xu, Zhi-Qin Chen, Zhi X. State Key Laboratory of Turbulence and Complex Systems Aeronautics and Astronautics College of Engineering Peking University Beijing100871 China Ai for Science Institute Beijing100080 China Caep Software Center for High Performance Numerical Simulation Beijing100088 China Institute of Applied Physics and Computational Mathematics Beijing100088 China Department of Mechanics and Aerospace Engineering SUSTech Shenzhen518055 China Institute of Natural Sciences School of Mathematical Sciences Shanghai Jiao Tong University Shanghai200240 China MOE-LSC Qing Yuan Research Institute Shanghai Jiao Tong University Shanghai200240 China

Recent developments in deep learning have brought many inspirations for the scientific computing community and it is perceived as a promising method in accelerating the computationally demanding reacting flow simulations. In this work, we introduce DeepFlame, an open-source C++ platform with the capabilities of utilising machine learning algorithms and pre-trained models to solve for reactive flows. We combine the individual strengths of the computational fluid dynamics library OpenFOAM, machine learning framework Torch, and chemical kinetics program Cantera. The complexity of cross-library function and data interfacing (the core of DeepFlame) is minimised to achieve a simple and clear workflow for code maintenance, extension and upgrading. As a demonstration, we apply our recent work on deep learning for predicting chemical kinetics (Zhang et al. Combust. Flame vol. 245 pp. 112319, 2022) to highlight the potential of machine learning in accelerating reacting flow simulation. A thorough code validation is conducted via a broad range of canonical cases to assess its accuracy and efficiency. The results demonstrate that the convection-diffusion-reaction algorithms implemented in DeepFlame are robust and accurate for both steady-state and transient processes. In addition, a number of methods aiming to further improve the computational efficiency, e.g. dynamic load balancing and adaptive mesh refinement, are explored. Their performances are also evaluated and reported. With the deep learning method implemented in this work, a speed-up of two orders of magnitude is achieved in a simple hydrogen ignition case when performed on a medium-end graphics processing unit (GPU). Further gain in computational efficiency is expected for hydrocarbon and other complex fuels. A similar level of acceleration is obtained on an AI-specific chip - deep computing unit (DCU), highlighting the potential of DeepFlame in leveraging the next-generation computing architecture and hardware. © 202

关键词： Graphics processing unit

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Retraction notice to “Neural network-based optimization of hydrogen fuel production energy system with proton exchange electrolyzer supported nanomaterial” [Fuel 332 (2023) 125827]

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Fuel 2025年 391卷

作者： Tao Hai Kosar Hikmat Hama Aziz Jincheng Zhou Hayder A. Dhahad Kamal Sharma Sattam Fahad Almojil Abdulaziz Ibrahim Almohana Abdulrhman Fahmi Alali Teeba Ismail Kh Sadok Mehrez Anas Abdelrahman School of Computer and Information Qiannan Normal University for Nationalities Duyun Guizhou 558000 China Key Laboratory of Complex Systems and Intelligent Optimization of Guizhou Duyun Guizhou 558000 China Institute for Big Data Analytics and Artificial Intelligence (IBDAAI) Universiti Teknologi MARA Shah Alam Selangor 40450 Malaysia Department of Chemistry College of Science University of Sulaimani Qlyasan Street Kurdistan Region 46001 Iraq Department of Medical Laboratory of Science College of Health Sciences University of Human Development Sulaimaniyah Iraq Key Laboratory of Complex Systems and Intelligent Optimization of Qiannan Duyun 558000 China Mechanical Engineering Department University of Technology Baghdad Iraq Institute of Engineering and Technology GLA University Mathura Uttar Pradesh 281406 India Department of Civil Engineering College of Engineering King Saud University P.O. Box 800 Riyadh 11421 Saudi Arabia Department of Computer Engineering College of Engineering and Computer Science Lebanese French University Kurdistan Region Iraq Department of Mechanical Engineering College of Engineering at Al Kharj Prince Sattam bin Abdulaziz University 16273 Saudi Arabia Department of Mechanical Engineering University of Tunis El Manar ENIT BP 37 Le Belv’ed‘ere Tunis 1002 Tunisia Department of Chemical Engineering Faculty of Engineering & Technology Future University in Egypt New Cairo 11500 Tunisia

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