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Design of Distributed Nonlinear Observers Without Using Global Inputs

IEEE Transactions on Automatic Control 2025年

作者： Cao, Ganghui Wang, Jinzhi Polycarpou, Marios M. Peking University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Beijing100871 China University of Cyprus KIOS Research and Innovation Center of Excellence and the Department of Electrical and Computer Engineering Nicosia1678 Cyprus

This paper investigates the design of distributed observers for a class of nonlinear systems. The designed distributed observers reside in a network of sensor nodes. The communication links in the network enable each sensor node to estimate all states of the nonlinear system, even though each one can only collect a small portion of the system's outputs. However, all inputs of the system are still needed at each node to carry out a correct state estimation. For this problem, the paper further proposes a distributed nonlinear observer without using global inputs, in which each sensor node only needs partial input information of the nonlinear system. © 1963-2012 IEEE.

关键词： Nonlinear simulations

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Learning Transferable Negative Prompts for Out-of-Distribution Detection

Learning Transferable Negative Prompts for Out-of-Distributi...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Tianqi Li Guansong Pang Xiao Bai Wenjun Miao Jin Zheng State Key Laboratory of Complex & Critical Software Environment School of Computer Science and Engineering Jiangxi Research Institute Beihang University China School of Computing and Information Systems Singapore Management University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Existing prompt learning methods have shown certain capabilities in Out-of-Distribution (OOD) detection, but the lack of OOD images in the target dataset in their training can lead to mismatches between OOD images and In-Distribution (ID) categories, resulting in a high false positive rate. To address this issue, we introduce a novel OOD detection method, named ‘NegPrompt’, to learn a set of negative prompts, each representing a negative connotation of a given class label, for delineating the boundaries between ID and OOD images. It learns such negative prompts with ID data only, without any reliance on external out-lier data. Further, current methods assume the availability of samples of all ID classes, rendering them ineffective in open-vocabulary learning scenarios where the inference stage can contain novel ID classes not present during training. In contrast, our learned negative prompts are transferable to novel class labels. Experiments on various ImageNet benchmarks show that NegPrompt surpasses state-of-the-art prompt-learning-based OOD detection methods and maintains a consistent lead in hard OOD detection in closed- and open-vocabulary classification scenarios. Code is available at https://***/mala-lab/negprompt.

关键词： Training Learning systems computer vision Codes Computational modeling Semantics Lead

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Symbolic Verification of Fuzzy Logic Models

Symbolic Verification of Fuzzy Logic Models

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IEEE International Conference on Automated software engineering (ASE)

作者： Siang Zhao Zhongyang Li Zhenbang Chen Ji Wang College of Computer National University of Defense Technology China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology China State Key Laboratory of High Performance Computing National University of Defense Technology China

Fuzzy logic is widely applied in various applications. However, verifying the correctness of fuzzy logic models can be difficult. This extended abstract presents our ongoing work on verifying fuzzy logic models. We treat a fuzzy logic model as a program and propose a verification method based on symbolic execution for fuzzy logic models. We have developed and implemented the environment models for the common functions and the inference rules in fuzzy logic models. Our preliminary evaluation shows the potential of our verification method.

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ROS package search for robot software development: a knowledge graph-based approach

arXiv

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arXiv 2023年

作者： Wang, Shuo Mao, Xinjun Yang, Shuo Wu, Menghan Zhang, Zhang College of Computer National University of Defense Technology Changsha410000 China Key Laboratory of Software Engineering for Complex Systems Changsha410000 China College of Systems Engineering National University of Defense Technology Changsha410000 China College of Computer Science and Technology Zhejiang University Hangzhou310058 China

In recent years, ROS (Robot Operating System) packages have become increasingly popular as a type of software artifact that can be effectively reused in robotic software development. Indeed, finding suitable ROS packages that closely match the software’s functional requirements from the vast number of available packages is a nontrivial task using current search methods. The traditional search methods for ROS packages often involve inputting keywords related to robotic tasks into general-purpose search engines (e.g., Google) or code hosting platforms (e.g., Github) to obtain approximate results of all potentially suitable ROS packages. However, the accuracy of these search methods remains relatively low because the task-related keywords may not precisely match the functionalities offered by the ROS packages. To improve the search accuracy of ROS packages, this paper presents a novel semantic-based search approach that relies on the semantic-level ROS Package Knowledge Graph (RPKG) to automatically retrieve the most suitable ROS packages. Firstly, to construct the RPKG, we employ multi-dimensional feature extraction techniques to extract semantic concepts, including code file name, category, hardware device, characteristics, and function, from the dataset of ROS package text descriptions. The semantic features extracted from this process result in a substantial number of entities (32,294) and relationships (54,698). Subsequently, we create a robot domain-specific small corpus and further fine-tune a pre-trained language model, BERT-ROS, to generate embeddings that effectively represent the semantics of the extracted features. These embeddings play a crucial role in facilitating semantic-level understanding and comparisons during the ROS package search process within the RPKG. Secondly, we introduce a novel semantic matching-based search algorithm that incorporates the weighted similarities of multiple features from user search queries, which searches out more accurate

关键词： Robots

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Assimilation of ASCAT Sea Surface Wind Retrievals with Correlated Observation Errors

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Journal of Meteorological Research 2021年第3期35卷 478-489页

作者： Boheng DUAN Weimin ZHANG Xiaofeng YANG Mengbin ZHU College of Meteorology and Oceanology National University of Defense TechnologyChangsha 410073 Laboratory of Software Engineering for Complex Systems Changsha 410073 State Key Laboratory of Remote Sensing Science Chinese Academy of SciencesBeijing 100101 Hainan Key Laboratory of Earth Observation Sanya 572029 Beijing Institute of Applied Meteorology Beijing 100029

Data assimilation systems usually assume that the observation errors of wind components, i.e., u(the longitudinal component) and v(the latitudinal component), are uncorrelated. However, since wind components are derived from observations in the form of wind speed and direction(spd and dir), the observation errors of u and v are correlated. In this paper, an explicit expression of the observation errors and correlation for each pair of wind components are derived based on the law of error propagation. The new data assimilation scheme considering the correlated error of wind components is implemented in the Weather Research and Forecasting Data Assimilation(WRFDA) system. Besides, adaptive quality control(QC) is introduced to retain the information of high wind-speed observations. Results from real data experiments assimilating the Advanced Scatterometer(ASCAT) sea surface winds suggest that analyses from the new data assimilation scheme are more reasonable compared to those from the conventional one, and could improve the forecasting of Typhoon Noru.

关键词： data assimilation Advanced Scatterometer(ASCAT) wind components correlated observation error

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Symbolic Execution of MPI Programs with One-Sided Communications

Symbolic Execution of MPI Programs with One-Sided Communicat...

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Asia-Pacific Conference on software engineering

作者： Nenghui Hu Zheng Bian Ziqi Shuai Zhenbang Chen Yufeng Zhang College of Computer National University of Defense Technology China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology China State Key Laboratory of High Performance Computing National University of Defense Technology China College of Computer Science and Electronic Engineering Hunan University Changsha China

Message-passing interface (MPI) programs are non-deterministic and challenging to ensure correctness. The introduction of one-sided communications makes the problem of non-determinism more severe for MPI programs. This paper reports our in-progress work of symbolic execution for the MPI programs with one-sided communications. Our approach can cover the non-determinism caused by the inputs, one-sided communication, and message- passing operations of MPI programs. The preliminary evaluation's results indicate the promising of our approach.

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Unsatisfiable Core Based Constraint Solving Cache in Symbolic Execution

Unsatisfiable Core Based Constraint Solving Cache in Symboli...

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Asia-Pacific Conference on software engineering

作者： Ziqi Shuai Zhenbang Chen Yufeng Zhang Hengbiao Yu Ji Wang College of Computer National University of Defense Technology China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology China State Key Laboratory of High Performance Computing National University of Defense Technology China College of Computer Science and Electronic Engineering Hunan University Changsha China

Constraint solving stands out as a significant bot-tleneck in symbolic execution. Caching is a commonly adopted approach to alleviate this bottleneck. However, the cutting-edge caching technique targeting unsatisfiable constraints, known as unsatisfiable core caching, primarily involves checking whether the constraint being solved contains an unsatisfiable core that has been previously collected. Such straightforward reuse frequently proves less effective in numerous scenarios. In this paper, we present a novel method to enhance the utilization of unsatisfiable cores. By excavating unsatisfiable cores, our method can compute an easily solvable over-approximation that tends to be unsatis-fiable for each constraint, which facilitates the determination of the satisfiability of the original constraint. We implemented our method on KLEE symbolic executor. The evaluation results on 27 real-world programs are encouraging.

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Learning Transferable Negative Prompts for Out-of-Distribution Detection

arXiv

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arXiv 2024年

作者： Li, Tianqi Pang, Guansong Bai, Xiao Miao, Wenjun Zheng, Jin School of Computer Science and Engineering State Key Laboratory of Complex & Critical Software Environment Jiangxi Research Institute Beihang University China School of Computing and Information Systems Singapore Management University Singapore

Existing prompt learning methods have shown certain capabilities in Out-of-Distribution (OOD) detection, but the lack of OOD images in the target dataset in their training can lead to mismatches between OOD images and In-Distribution (ID) categories, resulting in a high false positive rate. To address this issue, we introduce a novel OOD detection method, named ‘NegPrompt’, to learn a set of negative prompts, each representing a negative connotation of a given class label, for delineating the boundaries between ID and OOD images. It learns such negative prompts with ID data only, without any reliance on external outlier data. Further, current methods assume the availability of samples of all ID classes, rendering them ineffective in open-vocabulary learning scenarios where the inference stage can contain novel ID classes not present during training. In contrast, our learned negative prompts are transferable to novel class labels. Experiments on various ImageNet benchmarks show that NegPrompt surpasses state-of-the-art prompt-learning-based OOD detection methods and maintains a consistent lead in hard OOD detection in closed- and open-vocabulary classification scenarios. Code is available at https://***/mala-lab/negprompt. © 2024, CC BY.

关键词： Chemical detection

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Visual Sensor-Based Trajectory Multimodality Prediction via Anchor-Free Query Attention Network

引用

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Wang, Ruiping Cheng, Jun Yu, Junzhi Nanyang Technological University School of Computer Science and Engineering Jurong West Singapore639798 Singapore Peking University College of Engineering Beijing100871 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China

As a core component of intelligent surveillance and autonomous driving systems, visual sensor-based trajectory multimodality prediction can significantly improve their perception and decision-making capabilities. Numerous existing trajectory prediction methods are dedicated to enhance prediction performance. However, they still fail to effectively model the complex spatiotemporal interactions among pedestrians and trajectory multimodality. To address the above challenges, this article presents one new trajectory multimodality prediction method via anchor-free query-based attention network, which can more effectively capture spatiotemporal interactions and model trajectory multimodality. First, the initial trajectory proposal module employs target-centered query-based attention to capture complex spatiotemporal interactions and generate multiple trajectory proposals corresponding to the multiple modes of the future trajectory, which allows the model to use different interaction information when decoding trajectory points at different time steps. Second, the novel trajectory refinement module utilizes the learnable trajectory proposals to construct proposal-level interaction mechanisms to refine future trajectories. Experimental results conducted on ETH and UCY datasets demonstrate that the proposed model can provide the state-of-the-art prediction performance. © 1963-2012 IEEE.

关键词： Prediction models

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Short-Term Traffic Flow Prediction Method Based on Spatio-Temporal Characteristics of complex Road Network

Short-Term Traffic Flow Prediction Method Based on Spatio-Te...

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2021 International Conference on Applied Mathematics, Modeling and computer Simulation, AMMCS 2021

作者： Zhu, Huawei Mao, Yihao Zhao, Yiming Shi, Liyuan Shao, Yanli School of Information and Electrical Engineering Zhejiang University City College Hangzhou310015 China Key Laboratory of Complex Systems Modeling and Simulation School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China

ISBN: (纸本)9781643682549

With the development of urbanization, the number of residents' motor vehicles has increased sharply, and traffic congestion problem has become increasingly serious. The construction of Intelligent Traffic System (ITS) has become the main means to alleviate traffic congestion. Short-term traffic flow prediction has guiding significance for residents' travel planning and intelligent management of transportation, and has become one of the research hotspots in intelligent transportation ***, A short-term traffic flow prediction method based on the spatio-temporal characteristics of complex road networks is proposed to further improve the prediction accuracy and reduce the prediction cost. Firstly, a graph convolutional network (GCN) capable of processing non-Euclidean data structures is used to extract the spatial characteristics of traffic flow data. Then, the long and short-term memory (LSTM) neural network is used to process the time characteristics. Finally, the two are combined to realize the effective processing of the spatio-temporal characteristics of traffic flow data. Experimental results on the real traffic flow dataset prove the feasibility and effectiveness of the proposed method, and can provide a basis for intelligent traffic control and smart city construction. © 2022 The authors and IOS Press.

关键词： Traffic congestion

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