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arXiv 2023年

作者： Tian, Chungeng Hao, Ning He, Fenghua Yao, Haodi National Key Laboratory of Modeling and Simulation for Complex Systems School of Astronautics Harbin Institute of Technology Harbin150001 China

This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea involves a linear time-varying coordinated transformation to render the propagation Jacobian independent of the state and make it suitable for a distributed manner. This transformation is seamlessly integrated into a server-based distributed cooperative localization framework, in which each robot estimates its own state while the server maintains the cross-correlations. The transformation ensures the correct observability property of the entire framework. Moreover, the algorithm accommodates various types of robot-to-robot relative measurements, broadening its applicability. Through simulations and real-world dataset experiments, the proposed algorithm has demonstrated better performance in terms of both consistency and accuracy compared to existing algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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MD-TransUNet: TransUNet with Multi-attention and Dilated Convolution for Brain Stroke Lesion Segmentation 19th

MD-TransUNet: TransUNet with Multi-attention and Dilated C...

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19th EAI International Conference on Collaborative Computing: Networking, Applications and Worksharing, CollaborateCom 2023

作者： Xu, Jie Wan, Jian Zhang, Xin School of Computer Science and Technology Hangzhou Dianzi University Zhejiang310018 China Key Laboratory of Complex Systems Modeling and Simulation Ministry of Education Ministry of Education Beijing China School of Information and Electronic Engineering Zhejiang University of Science and Technology Zhejiang China Key Laboratory of Marine Ecosystem Dynamics Second Institute of Oceanography Ministry of Natural Resources Hangzhou China

ISBN: (纸本)9783031545276

The accurate segmentation of stroke lesion regions holds immense significance in shaping treatment strategies and rehabilitation protocols. Due to the large difference in the volume of stroke lesion areas and the great similarity between lesion areas and normal tissues, most of the existing methods for lesion segmentation cannot deal with these problems well. This paper proposes a novel network named MD-TransUNet for the segmentation of stroke lesions, whose framework is based on the UNet architecture. To fully obtain deep image features, it uses ResNet50 for downsampling. MD (multi-dilated) module is employed as the skip connection to gain more receptive fields. Different receptive fields can adapt to varying volumes of lesion areas. Then, a feature extraction module with multi-level attention mechanism is designed using ConvLSTM, non-local spatial attention, and channel attention modules to suppress useless information expression in skip connections and upsampling processes while focusing more on effective spatial and channel information in features. The experiments show that our proposed network gets superior performance than benchmark methods and indicates the generalization and effectiveness of the proposed model. © ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2024.

关键词： Convolution

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Reliability Assessment of LCC-HVDC links Using Protection Devices 1

Reliability Assessment of LCC-HVDC links Using Protection De...

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1st International Conference on Renewable Solutions for Ecosystems: Towards a Sustainable Energy Transition, ICRSEtoSET 2023

作者： Hameurlaine, Abdelhadi Boukezzi, Larbi Karef, Salah Sayah, Haouari University of Djelfa Laboratory of Applied Automation & Industrial Diagnostics Djelfa Algeria University of Djelfa Materials Science and Informatics Laboratory Msil Djelfa Algeria University of Djelfa Com Laboratory of Modeling Optimization and Simulation of Real Complex Systems Djelfa Algeria University of SidiBel-Abbes Intelligent Control and Electrical Power System Laboratory SidiBel-Abbes Algeria

ISBN: (纸本)9798350346336

the DC/AC interaction and the presence of the high nonlinearity in the HVDC links, these problems needs to examine the behavior of the system in steady-state and transient conditions in order to define the great role of protection functions and control parameters. Furthermore, Control and protection systems are a vital part of an HVDC system to guarantee the safety, reliability, and stability of its operation. This research aim is to provide the solutions for control and protection problems that can occur in HVDC link. In this paper, we study how we mitigate this serious malfunction of commutation failure process in the operation of HVDC converters. Indeed some protection functions like the commutation failure prevention. Furthermore, HVDC transmission systems are vulnerable to DC faults and its protection becomes ever more important with the fast growth in the number of installations. Finally, the dynamics of the studied power system including the HVDC link is thoroughly investigated through various simulation scenarios. © 2023 IEEE.

关键词： HVDC power transmission

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Relationship graph learning network for visual relationship detection 2

Relationship graph learning network for visual relationship ...

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2nd ACM International Conference on Multimedia in Asia, MMAsia 2020

作者： Li, Yanan Yu, Jun Zhan, Yibing Chen, Zhi Key Laboratory of Complex Systems Modeling and Simulation School of Computer Science and Technology Hangzhou Dianzi University Hangzhou China

ISBN: (纸本)9781450383080

Visual relationship detection aims to predict the relationships between detected object pairs. It is well believed that the correlations between image components (i.e., objects and relationships between objects) are significant considerations when predicting objects' relationships. However, most current visual relationship detection methods only exploited the correlations among objects, and the correlations among objects' relationships remained underexplored. This paper proposes a relationship graph learning network (RGLN) to explore the correlations among objects' relationships for visual relationship detection. Specifically, RGLN obtains image objects using an object detector, and then, every pair of objects constitutes a relationship proposal. All relationship proposals construct a relationship graph, in which the proposals are treated as nodes. Accordingly, RGLN designs bi-stream graph attention subnetworks to detect relationship proposals, in which one graph attention subnetwork analyzes correlations among relationships based on visual and spatial information, and the other analyzes correlations based on semantic and spatial information. Besides, RGLN exploits a relationship selection subnetwork to ignore redundant information of object pairs with no relationships. We conduct extensive experiments on two public datasets: the VRD and the VG datasets. The experimental results compared with the state-of-the-art demonstrate the competitiveness of RGLN. © 2021 ACM.

关键词： Semantics

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Autonomous Decision Making with Reinforcement Learning in Multi-UAV Air Combat

Autonomous Decision Making with Reinforcement Learning in Mu...

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IEEE International Conference on systems, Man and Cybernetics

作者： Xutao Feng Yaofei Ma Liping Zhao Hanbo Yang Beihang University School of Automation Science and Electrical Engineering Beijing China National Key Laboratory of Modeling and Simulation for Complex Systems Beijing Simulation Center Beijing China

A multi-agent decision network based on QMIX is proposed in this paper to cope with the coordination decision problem of multiple UAV air combat missions. To speed up the training process, three improvements are introduced: 1) An improved $\epsilon$ -decaying method that enable some tutor to help in action selection at the early stage of the training. This measure greatly improves the exploring efficiency when the network are far from being fully trained; 2) State pruning and action mask measures are applied during the training. The former improves the effectiveness of the input state information, and the latter reduces unnecessary action exploring. 3) A gradually training configuration is used to make the training process more robust, where the combat adversaries are configured as the static targets, the randomly maneuver vehicles, and the Min-Max strategy vehicles respectively. The multi-UAV air combat scenarios are built up and the experiments are conducted. The results shows that these improvements have significantly improved training efficiency.

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"Why not looking backward?" a robust two-step method to automatically terminate Bayesian optimization 23

"Why not looking backward?" a robust two-step method to auto...

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Proceedings of the 37th International Conference on Neural Information Processing systems

作者： Shuang Li Ke Li Wei Li Control and Simulation Center Harbin Institute of Technology China and National Key Laboratory of Modeling and Simulation for Complex Systems China Department of Computer Science University of Exeter Exeter UK

Bayesian Optimization (BO) is a powerful method for tackling expensive blackbox optimization problems. As a sequential model-based optimization strategy, BO iteratively explores promising solutions until a predetermined budget, either iterations or time, is exhausted. The decision on when to terminate BO significantly influences both the quality of solutions and its computational efficiency. In this paper, we propose a simple, yet theoretically grounded, two-step method for automatically terminating BO. Our core concept is to proactively identify if the search is within a convex region by examining previously observed samples. BO is halted once the local regret within this convex region falls below a predetermined threshold. To enhance numerical stability, we propose an approximation method for calculating the termination indicator by solving a bilevel optimization problem. We conduct extensive empirical studies on diverse benchmark problems, including synthetic functions, reinforcement learning, and hyperparameter optimization. Experimental results demonstrate that our proposed method saves up to ≈ 80% computational budget yet is with an order of magnitude smaller performance degradation, comparing against the other peer methods. In addition, our proposed termination method is robust in terms of the setting of its termination criterion.

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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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FedECCR: Federated Learning Method with Encoding Comparison and Classification Rectification 19th

FedECCR: Federated Learning Method with Encoding Comparison...

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19th EAI International Conference on Collaborative Computing: Networking, Applications and Worksharing, CollaborateCom 2023

作者： Zeng, Yan Zheng, Hui Wang, Xin Zhang, Beibei Zhou, Mingyao Zhang, Jilin Ren, YongJian School of Computer Science and Technology Hangzhou Dianzi University Hangzhou310018 China Key Laboratory for Modeling and Simulation of Complex Systems Ministry of Education Hangzhou310018 China Data Security Governance Zhejiang Engineering Research Center Hangzhou310018 China Zhejiang Lab Hangzhou311100 China Hangzhou Huawei Communication Technology Co. Ltd. Hangzhou310052 China

ISBN: (纸本)9783031545306

Federated learning is a distributed training method that integrates multi-party data information using privacy-preserving technologies through dispersed client data sets to jointly construct a global model under the coordination of a central server. However, in practical applications, there is a high degree of data distribution skewness among clients, which causes the optimization direction of the client models to diverge, resulting in model bias and reducing the accuracy of the global model. Existing methods require the calculation and transmission of much information to correct the optimization direction of the client models, or only roughly limit the deviation of the client models end-to-end, ignoring targeted processing of the internal structure of the model, resulting in unclear improvement effects. To address these problems, we propose a federated optimization algorithm FedECCR based on encoding contrast and classification correction. This algorithm divides the model into an encoder and a classifier. It utilizes prototype contrastive training of the model encoder and unbiased classification correction of the classifier. This approach notably improves the accuracy of the global model while maintaining low communication costs. We conducted experiments on multiple data sets to evaluate the validity of our method, and the quantified results showed that FedECCR can improve the global model classification accuracy by approximately 1% to 6% compared to FedAvg, FedProx, and MOON. © ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2024.

关键词： Classification (of information)

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FedAG:A Federated Learning Method Based on Data Importance Weighted Aggregation

FedAG:A Federated Learning Method Based on Data Importance W...

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2023 IEEE/CIC International Conference on Communications in China, ICCC 2023

作者： Xu, Mengchu Zeng, Yan Xue, Meiting Zhang, Ji-Lin Wan, Jian Zhou, Mingyao Wen, Yilin Shi, Yukun Hangzhou Dianzi University School of Computer Science and Technology Hangzhou China Key Laboratory of Complex Systems Modeling and Simulation Ministry of Education Hangzhou China Zhejiang Engineering Research Center of Data Security Governance Hangzhou China Hangzhou Dianzi University School of Cyberspace Hangzhou China Huawei Enterprise Communication Technology Co Hangzhou China

ISBN: (纸本)9798350345384

Federated learning is a distributed machine learning approach that trains models with multiple clients and data locally. However, the existing methods ignore the differences between local models caused by the data heterogeneity, and give a high aggregation weight for the low-quality local model, which leads to low accuracy of the global model. For this problem, we propose a federated learning method based on data importance weighted aggregation, FedAG. It constructs an evaluation model of data importance based on the data distribution skewness, data volume, and data quality of clients, and aggregates local models with different weights computed by the evaluation model of data importance into a global model. We make experiments on five datasets including EMNIST, MNIST, and CIFAR-10. The results show that the accuracy of FedAG is respectively improved by 6.5%, 1.8%, 1.3% and 2.1%, compared with FedAvg, FedProx, FedVar, and Scaffold algorithms. © 2023 IEEE.

关键词： Scaffolds

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HRSTORY: Historical News Review Based Online Story Discovery 25

HRSTORY: Historical News Review Based Online Story Discovery

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Proceedings of the 31st ACM SIGKDD Conference on Knowledge Discovery and Data Mining V.1

作者： Renjie Zhou Haoran Ye Jian Wan Yong Liao Key Laboratory of Complex Systems Modeling and Simulation of the Ministry of Education Hangzhou Dianzi University Hangzhou Zhejiang China Zhejiang University of Science and Technology Hangzhou Zhejiang China University of Science and Technology of China Hefei Anhui China

ISBN: (纸本)9798400712456

Story discovery on news streams can help people quickly find story from vast amounts of news, improving the efficiency of information acquisition. Recent online story discovery methods encode text topics and then cluster articles into stories based on similarity. However, the results obtained by these methods are one-time, and clustered news cannot adaptively update in a continuous news stream. Additionally, the inadequate quality of article encoding and the presence of noise data deteriorate the performance of story discovery. To this end, we propose HRSTORY for online story discovery on news streams, which employs a historical news review method to enable news to continuously adapt to the latest environment in the stream data and make corrections and updates. Furthermore, HRSTORY captures better article embeddings through modeling multi-layer relational dependencies within the text. By using sentence-level noise masking, HRSTORY improves the relevance of news article representation to core topics and reduces the interference of noise data. Experiments on real news datasets show that HRSTORY outperforms the state-of-the-art algorithms in unsupervised online story discovery performance.

关键词： historical news

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