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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Shaokai Li Peng Song Liang Ji Yun Jin Wenming Zheng School of Computer and Control Engineering Yantai University China The State Key Laboratory of Tibetan Intelligent Information Processing and Application Tibetan Information Processing and Machine Translation Key Laboratory of Qinghai Province School of Physics and Electronic Engineering Jiangsu Normal University China Key Laboratory of Child Development and Learning Science (Southeast University) Ministry of Education Research Center for Learning Science Southeast University China

In this paper, we propose a novel transfer learning framework, named generalized subspace distribution adaptation (GSDA), to tackle the challenging cross-corpus speech emotion recognition problem. First, we learn a common low-dimensional feature subspace by utilizing a generalized subspace learning method. Second, we develop a novel distance metric to reduce the divergence between the source and target corpora, which can efficiently explore the similarity and dissimilarity information in the process of knowledge transfer. Third, to demonstrate the effectiveness of our framework, we apply GSDA to the traditional subspace learning algorithms. Finally, we conduct extensive experiments by using the low-level features and deep features on three popular emotional databases, i.e., Berlin, IEMOCAP, and CVE. The results demonstrate that the proposed framework can achieve better performance than several state-of-the-art transfer learning approaches.

关键词： Measurement Learning systems Emotion recognition Databases Transfer learning Signal processing algorithms Speech recognition

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Fragility-Aware Stealthy Attack Strategy for Multi-Robot Systems against Multi-Hop Wireless Networks

Fragility-Aware Stealthy Attack Strategy for Multi-Robot Sys...

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IEEE Conference on Decision and control

作者： Yun Gao Kai Luo Chongrong Fang Jianping He Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a fragility-aware stealthy attack for multiple mobile robots to secretly learn the accurate model of a multi-hop wireless network (MHWN). The stealthy attack scenario consists of three steps: active detection, node hijacking, and network eavesdropping. Our goal is to design distributed motion control strategies for naive attackers, for obtaining the connectivity information to evaluate the fragility degree of each node in MHWN. We designed a switching control strategy, which includes (i) move-to-fragile-neighbors-barycenter (MFNB) law and (ii) move-to-undetected-region-centroid (MURC) law. This strategy can drive mobile attackers to detect, hijack and eavesdrop on the MHWN’s nodes as quickly as possible. As a result, the fragility degree map of MHWN can be secretly learned to paralyze the whole network. Finally, the simulation results show that the proposed strategy is effective.

关键词： Wireless networks Simulation Spread spectrum communication Switches control systems Stability analysis Multi-robot systems

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Inferring Topology of Networked Dynamical Systems by Active Excitations

Inferring Topology of Networked Dynamical Systems by Active ...

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IEEE Conference on Decision and control

作者： Yushan Li Jianping He Cailian Chen Xinping Guan Dept. of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Topology inference for networked dynamical systems (NDSs) has received considerable attention in recent years. The majority of pioneering works have dealt with inferring the topology from abundant observations of NDSs, so as to approximate the real one asymptotically. Leveraging the characteristic that NDSs will react to various disturbances and the disturbance’s influence will consistently spread, this paper focuses on inferring the topology by a few active excitations. The key challenge is to distinguish different influences of system noises and excitations from the exhibited state deviations, where the influences will decay with time and the excitation cannot be arbitrarily large. To practice, we propose a one-shot excitation based inference method to infer h-hop neighbors of a node. The excitation conditions for accurate one-hop neighbor inference are first derived with probability guarantees. Then, we extend the results to h-hop neighbor inference and multiple excitations cases, providing the explicit relationships between the inference accuracy and excitation magnitude. Specifically, the excitation based inference method is not only suitable for scenarios where abundant observations are unavailable, but also can be leveraged as auxiliary means to improve the accuracy of existing methods. Simulations are conducted to verify the analytical results.

关键词： Analytical models Network topology Topology Performance analysis Dynamical systems Testing

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Parametric Design Optimization of a Universal Supernumerary Robotic Limb

Parametric Design Optimization of a Universal Supernumerary ...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Jun Huo Bo Yang Hongge Ru Jian Huang Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology (HUST) Wuhan China

ISBN: (纸本)9781665407748

It is a positive trend for hemiplegia with wearable robots in rehabilitation training. Recently, wearable Supernumerary Robotic Limb (SRL) is rising to a hot spot. The difficulty in modeling SRL for hemiplegia is how to make the SRL mechanism match the human upper and lower limbs' size and function simultaneously. In this paper, a simplified model of a four Degree of Freedoms (DOFs) universal SRL (USRL) is introduced. Based on workspace similarity, which is evaluated by Jaccard Index (JI), we establish a multi-object optimization (MOO) model. By applying the Particle Swarm Optimization (PSO) algorithm, we have found the optimal SRL mechanism parameters that meet the requirement of the human upper limb and the cane simultaneously. Meanwhile, a few impact factors are discussed briefly in the present proposal. The simulation results show that the USRL has a sound match with the human and could assist the hemiplegia subject as a supplemental limb.

关键词： Training Simulation Wearable robots Market research Manufacturing Indexes Proposals

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Analysis and Design of Application-Layer Rateless Codes Based on Reliability and Latency Trade-Off

Analysis and Design of Application-Layer Rateless Codes Base...

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IEEE Conference on Wireless Communications and Networking

作者： Haobo Huang Yusun Fu Junpeng Yin Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

With the Internet of Things (IoT) playing an increasingly crucial role in connecting diverse devices, applications have different requirements for communication and various evaluation metrics have emerged, such as Age of Information (AoI) and estimation error. Considering the fundamental trade-off between reliability and latency of the communication system, the relationship among reliability, latency, AoI and estimation error is complex. This paper proposes a remote state observation system with application-layer rateless codes to explore above relationships, addressing how to design the system for optimal performance based on varying requirements by adjusting coding parameters. By emphasizing flexible and adaptable coding strategies, we aim to convey the idea that the error-correction codes can be designed to optimize the communication system for diverse practical metrics. It is different from the traditional designs that focus on approaching the Shannon limit.

关键词： Measurement Estimation error Correlation Communication systems Reliability engineering Information age Error correction codes Internet of Things Channel coding State estimation

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controller Synthesis of Signal Temporal Logical Tasks for Cyber-Physical Production Systems via Acyclic Decomposition

Controller Synthesis of Signal Temporal Logical Tasks for Cy...

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IEEE Conference on Decision and control

作者： Shuling Wang Shanying Zhu Cailian Chen Liang Xu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Artificial Intelligence Shanghai University Shanghai China

Modularization facilitates the adaptability of cyber-physical production systems (CPPSs) with a variety of collaborative tasks. Various production rules can be captured by signal temporal logic (STL) specifications imposed on interconnected multi-agent systems (MASs). In this paper, we focus on the controller synthesis of STL tasks for interconnected MASs to accomplish collaborative tasks in modular CPPSs. Firstly, a class of STL specifications characterizing tasks by the combination of fixed-time reachability and finite-time persistence tasks is proposed, which encompasses a large class of production specifications for the MAS. Secondly, the acyclic decomposition of the global STL formula is constructed to enable conflict-free collaborative tasks and unidirectional couplings between subsystems. By establishing the equivalence between the proposition and the state set of the MAS, necessary and sufficient conditions are respectively proposed for the satisfaction of reachability and persistence tasks. In addition, an algorithm is presented to synthesize controllers for the MAS with the global STL specification based on local controllers of subsystems. An illustrative example is given to show the effectiveness of the proposed method.

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A localizability estimation method for mobile robots based on 3D point cloud feature

A localizability estimation method for mobile robots based o...

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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Liu, Ying Wang, Jingchuan Huang, Yi Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China Nanjing Kingyoung Intelligent Technology CO. LTD.

ISBN: (纸本)9781665436786

This paper introduces the theoretical analysis and derivation of localizability estimation for mobile robots based on point cloud observation. Combined with the observation model, the pre-established point cloud map is firstly clustered and segmented with a newly proposed method considering multiple constraints on depth map. Then localizability is set to be equal to the strength of the constraints associated with 3D point cloud features. In addition, based on the method of using information matrix theory, this paper integrates the Fisher's information matrix and point cloud features to estimate localizability. © 2021 IEEE.

关键词： Mobile robots

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Tiny noise, big mistakes: adversarial perturbations induce errors in brain–computer interface spellers

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National Science Review 2021年第4期8卷 78-90页

作者： Xiao Zhang Dongrui Wu Lieyun Ding Hanbin Luo Chin-Teng Lin Tzyy-Ping Jung Ricardo Chavarriaga Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and Technology School of Civil Engineering and Mechanics Huazhong University of Science and Technology Centre of Artificial Intelligence Faculty of Engineering and Information Technology University of Technology Sydney Swartz Center for Computational Neuroscience Institute for Neural ComputationUniversity of California San Diego Center for Advanced Neurological Engineering Institute of Engineering in Medicine University of California San Diego ZHAW Data Lab Zürich University of Applied Sciences

An electroencephalogram(EEG)-based brain–computer interface(BCI) speller allows a user to input text to a computer by thought. It is particularly useful to severely disabled individuals, e.g. amyotrophic lateral sclerosis patients, who have no other effective means of communication with another person or a *** studies so far focused on making EEG-based BCI spellers faster and more reliable; however, few have considered their security. This study, for the first time, shows that P300 and steady-state visual evoked potential BCI spellers are very vulnerable, i.e. they can be severely attacked by adversarial perturbations,which are too tiny to be noticed when added to EEG signals, but can mislead the spellers to spell anything the attacker wants. The consequence could range from merely user frustration to severe misdiagnosis in clinical applications. We hope our research can attract more attention to the security of EEG-based BCI spellers, and more broadly, EEG-based BCIs, which has received little attention before.

关键词： electroencephalogram brain-computer interfaces BCI spellers adversarial examples

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot

Extended State Observer Based Fault-Tolerant Predictive Cont...

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IEEE International Conference on Cyber Technology in Automation, control, and intelligent Systems

作者： Binghao Yang Dongliang Wang Ziling Wen Wu Wei Wenji Li Zhun Fan Key Lab of Digital Signal and Image Processing of Guangdong Province Shantou University Guangdong China School of Department of Electronic and Information Engineering Shantou University Guangdong China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou Guangdong China School of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment.

关键词： Fault tolerance Trajectory tracking Fault tolerant systems Wheels Transportation Kinematics Predictive models Safety State estimation Predictive control

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Analysis and Design of Application-Layer Rateless Codes Based on Reliability and Latency Trade-Off

Analysis and Design of Application-Layer Rateless Codes Base...

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2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Huang, Haobo Fu, Yusun Yin, Junpeng Ningbo Artificial Intelligence Institute Shanghai Jiao Tong University Ningbo China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9798350368369

关键词： Integrated circuit design

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