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arXiv 2025年

作者： Wen, Jinbo Kang, Jiawen Zhang, Yang Zhong, Yue Niyato, Dusit Xu, Jie Tang, Jianhang Yuen, Chau College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics China School of Automation Guangdong University of Technology China College of Computing and Data Science Nanyang Technological University Singapore Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Shenzhen China State Key Laboratory of Public Big Data Guizhou University China School of Electrical and Electronics Engineering Nanyang Technological University Singapore

Mobile metaverses have attracted significant attention from both academia and industry, which are envisioned as the next-generation Internet, providing users with immersive and ubiquitous metaverse services through mobile devices. Driven by Large Language Models (LLMs) and Vision-Language Models (VLMs), Artificial Intelligence (AI) agents hold the potential to empower the creation, maintenance, and evolution of mobile metaverses. Currently, AI agents are primarily constructed using cloud-based LLMs and VLMs. However, several challenges hinder their effective implementation, including high service latency and potential sensitive data leakage during perception and processing. In this paper, we develop an edge-cloud collaboration-based federated AI agent construction framework in mobile metaverses. Specifically, Edge Servers (ESs), acting as agent infrastructures, collaboratively create agent modules in a distributed manner. The cloud server then integrates these modules into AI agents and deploys them at the edge, thereby enabling low-latency AI agent services for users. Considering that ESs may exhibit dynamic levels of willingness to participate in federated AI agent construction, we design a two-period dynamic contract model to continuously motivate ESs to participate in agent module creation, effectively addressing the dynamic information asymmetry between the cloud server and the ESs. Furthermore, we propose an Enhanced Diffusion Model-based Soft Actor-Critic (EDMSAC) algorithm to efficiently generate optimal dynamic contracts, in which dynamic structured pruning is applied to DM-based actor networks to enhance denoising efficiency and policy learning performance. Extensive simulations demonstrate the effectiveness and superiority of the EDMSAC algorithm and the proposed contract model. Copyright © 2025, The Authors. All rights reserved.

关键词： Reinforcement learning

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Protein-Folding Inspired Programmable Control System for Robot Swarms

Protein-Folding Inspired Programmable Control System for Rob...

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IEEE International Conference on Robotics and Biomimetics

作者： Feng Zhang Yuping Gu Zebin Wang Shuai Yuan Yongliang Yang School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Computer Science and Engineering Shenyang Jianzhu University Shenyang Liaoning China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing reliable algorithms of robot swarms, a promising solution is learning from the collective behaviors of low-intelligent natural swarms, such as cell collectives and molecular assemblies. Here, we proposed a programmable control system inspired by protein folding. Using our homemade RoboFold platform, we demonstrated a protein-folding inspired programmable control method for robot swarms. By programming and designing the sequence of a thread of protein-like robots, the developed system can mimic the formation of hierarchical structures in robot swarms as the three-level of protein structures. We quantitatively characterized the specific features of self-organized morphologies. The experimental results together demonstrated the feasibility of this method. To summarize, this work successfully translated the principles of protein-folding into programming methods to control the morphology of robot swarms. Considering that the protein folding problem is essentially a physicochemical problem, this system is not only beneficial for the control of swarm robots but also has the potential to develop into a tool for studying the protein folding problem.

关键词： Proteins Vibrations Programmable control Animals Morphology Swarm robotics Programming Control systems Robustness Robots

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SparseGTN: Human Trajectory Forecasting with Sparsely Represented Scene and Incomplete Trajectories

SparseGTN: Human Trajectory Forecasting with Sparsely Repres...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jianbang Liu Guangyang Li Xinyu Mao Fei Meng Jie Mei Max Q.-H. Meng Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen Key Laboratory of Robotics Perception and Intelligence and the Department of Electronic and Electrical Engineering Southern University of Science and Technology in Shenzhen China Professor Emeritus in the Department of Electronic Engineering The Chinese University of Hong Kong in Hong Kong Professor in the Department of Electrical and Computer Engineering University of Alberta in Canada

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In recent years, great progress has been made in forecasting human motion in crowded scenes. However, current methods are far from practical applications due to the unbearable high computation costs, especially for encoding scene context. In addition, neglecting the partially detected trajectories makes the predicted outcome deviate from the real trajectory distribution. To handle the aforementioned concerns, we propose to represent the scene context and partially observed trajectories with sparse graphs. Customized for this special data structure, we design a hierarchical Graph Transformer Network model SparseGTN to predict multiple possible future trajectories of the target pedestrian by digesting the sparsely represented inputs. Our approach exhibits superiority over the state-of-the-art (SOTA) methods, utilizing a mere 3.42% of the number of floating point operations (FLOPs) and 0.53% of the number of model parameters. The code will be available online ⋆ .

关键词： Pedestrians Switches Predictive models Transformers Encoding Trajectory Mobile robots Forecasting Collision avoidance Intelligent robots

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Long-Term Time Series Anomaly Detection with Transformer and Variational Autoencoder for Water Quality

SSRN

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SSRN 2024年

作者： Lin, Yongze Qiao, Junfei Bi, Jing Yuan, Haitao Zhou, MengChu Beijing Laboratory of Smart Environmental Protection Beijing University of Technology Beijing100124 China Faculty of Information Technology Beijing University of Technology Beijing100124 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ07102 United States

In many fields, time series anomaly detection is gaining more and more attention, \textit{e.g.}, air pollution, geological hazards, and network traffic detection. Time series anomaly detection in water quality aims to identify anomalous samples. However, there are several challenges in anomaly detection of water quality time series: 1) Difficulty in obtaining local and global temporal dependencies of time series;2) Difficulty in learning a representation map from time series that enables effective discrimination of anomalies;and 3) Complex nonlinear relationship in water quality time series, making it difficult to detect long-term anomalies. To solve these problems, this work proposes a time series anomaly detection model called Transformer with Variational Autoencoder (TransVAE). First, this work integrates local and global temporal position embedding to improve temporally dependent representation. Second, It adopts a Variational Autoencoder (VAE) to fuse signals and reconstruct their expected distribution. Third, we use a Transformer to process nonlinear relationships in the time series and use residual mechanisms to improve long-term series anomaly detection accuracy. This work adopts two real-world datasets to evaluate the proposed TransVAE, and experiments demonstrate that TransVAE outperforms several state-of-the-art methods in terms of time series anomaly detection accuracy. © 2024, The Authors. All rights reserved.

关键词： Time series

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Enhancement of Two-Photon Fluorescence Microscopy Through Auxiliary Microspheres for Microscopic Observation

Enhancement of Two-Photon Fluorescence Microscopy Through Au...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Feng Zhang Zijian Jin Chaodi Jiang Shuai Yuan Yongliang Yang Xiaoduo Wang School of Electrical & Control Engineering Shenyang Jianzhu University Shenyang Liaoning Province China School of Computer Science and Engineering Shenyang Jianzhu University Shenyang Liaoning Province China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

At present, it is still a great challenge to improve the observation accuracy of two-photon fluorescence microscope. A new method that using auxiliary microspheres as movable components on the sample is proposed to solve this challenge in this study, it can improve high-resolution imaging. In experiments using two-photon fluorescence microscopy, the half-width height (FWHM) of red fluorescent nanoparticles with a diameter of 20 nm was observed to be 296 nm using a primitive microscope system. In this paper by combining barium titanate microspheres with two-photon fluorescence microscopy, the accuracy of the point spread function of the nanoparticles can be improved by a factor of about 1.65, which results in a significant reduction of their half-width height measurements to 179 nm. The research is of great significance to improve the resolution of two-photon fluorescence microscope. This progress is very valuable for studying biological tissues and cell structures, it provides a new impetus for the sustainable development in the microscopic imaging field.

关键词： Nanoparticles Accuracy Barium Microscopy Refractive index High-resolution imaging Fluorescence Titanium compounds Sustainable development Intelligent systems

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Exploration of Problem-based Learning at Inter-course Level 13

Exploration of Problem-based Learning at Inter-course Level

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13th International Conference on Education Technology and computers, ICETC 2021

作者： Li, Fenghua Wang, Mei Nan, Xiangli Liu, Xiahe Zhou, Chunfang Gong, Dianyao Ecomaterial Lab School of Metallurgy Northeastern University China Department of Mathematics and Computer Science and Engineering Education Innovation Center University of Southern Denmark Denmark The State Ley Laboratory of Rolling and Automation School of Materials Northeastern University China

ISBN: (纸本)9781450385114

Under the background of globalization and technology competition in the new era, aiming at the problem of traditional teaching interaction, this paper puts forward the idea of problem-based learning (PBL) teaching for environmental science majors. Compared with the traditional teaching method, the PBL model has advantages in improving students' self-learning ability, cooperation and communication ability, professional ability, being familiar with academic writing norms, and training critical thinking ability. Compared with the single-course PBL, the inter-course PBL model emphasizes the importance of systematic integration of professional knowledge when solving practical problems, and promotes teachers' extensive communication and cooperation. © 2021 ACM.

关键词： Teaching

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A Power Split Strategy for a Vehicular Hybrid Energy Storage System Using Adaptive Neuro Fuzzy Inference System

A Power Split Strategy for a Vehicular Hybrid Energy Storage...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiao Li Lijun Zhang Longzhi Yang Bo Wang School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology Wuhan China Department of Computer Science and Digital Technologies Faculty of Engineering and Environment Northumbria University Newcastle upon Tyne U.K

This paper presents a real-time power split strategy for a battery-supercapacitor hybrid energy storage system. The objective of the proposed strategy is to alleviate battery degradation through effective supercapacitor utilization. The proposed strategy employs an adaptive neural fuzzy inference system, which is capable of learning a power split strategy from offline optimization results and distributing power in real-time. The performance of the strategy proposed and a low pass filtering technique is compared through simulations. The results demonstrate that the proposed method can effectively reduce battery capacity loss and perform well under unknown driving cycles in real time.

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Intelligent Fault Detection of Transmission Line Insulator Based on Deep Learning

Intelligent Fault Detection of Transmission Line Insulator B...

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International Symposium on computer science and Intelligent Controls (ISCSIC)

作者： Xinyang Wu Jing Zhu Xiangping Zhai College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Anhui Province Key Laboratory of Intelligent Building & Building Energy Saving Anhui Jianzhu University College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing China

Fault detection of missing insulator is critical to maintain the reliability, safety, and electrical performance of transmission lines. However, current methods generally have low accuracy and poor robustness for the images with complex background. Additionally, these methods require some shallow features and are unable to detect multiple faults. In this paper, we propose a method for fault detection of missing insulator based on deep learning. First of all, aerial images captured by unmanned aerial vehicles are collected and turned into the detection dataset using data augmentation. Secondly, an optimized network model is proposed for obtaining the locations of missing insulator faults with high accuracy. Eventually, the dataset is entered into the ultimate optimal network model for training and validation. Experimental results on the dataset with data augmentation indicate that our proposed method is more accurate than current methods for detecting missing insulator faults.

关键词：

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DISD-Net: A Dynamic Interactive Network with Self-distillation for Cross-subject Multi-modal Emotion Recognition

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IEEE Transactions on Multimedia 2025年

作者： Cheng, Cheng Liu, Wenzhe Wang, Xinying Feng, Lin Jia, Ziyu Liaoning Normal University Research Center of Brain and Cognitive Neuroscience Dalian116029 China Anhui University Anhui Provincial Key Laboratory of Multimodal Cognitive Computation Hefei230601 China Key Laboratory of Biomedical Engineering of Hainan Province Haikou570228 China Huzhou University School of Information Engineering Huzhou313000 China Dalian University of Technology School of Computer Science and Technology Dalian116081 China Institute of Automation Chinese Academy of Sciences Brainnetome Center Beijing100190 China

Multi-modal Emotion Recognition (MER) has demonstrated competitive performance in affective computing, owing to synthesizing information from diverse modalities. However, many existing approaches still face unresolved challenges, such as: (i) how to learn compact yet representative features from multi-modal data simultaneously, and (ii) how to address differences among subjects and enhance the generalization of the emotion recognition model, given the diverse nature of individual biological signals. To this end, we propose a Dynamic Interactive Network with Self-Distillation (DISD-Net) for cross-subject MER. The DISD-Net incorporates a dynamin interactive module to capture the intra- and inter-modal interactions from multi-modal data. Additionally, to enhance compactness in modal representations, we leverage the soft labels generated by the DISD-Net model as supplemental training guidance. This involves incorporating self-distillation, aiming to transfer the knowledge that the DISD-Net model contains hard and soft labels to each modality. Finally, domain adaptation (DA) is seamlessly integrated into the dynamic interactive and self-distillation components, forming a unified framework to extract subject-invariant multi-modal emotional features. Experimental results indicate that the proposed model achieves a mean accuracy of 75.00% with a standard deviation of 7.68% for the DEAP dataset and a mean accuracy of 65.65% with a standard deviation of 5.08% for the SEED-IV dataset. © 1999-2012 IEEE.

关键词： domain adaptation (DA) dynamic interactive Multi-modal Emotion Recognition (MER) self-distillation

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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