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Prescribed Performance control of Mobile Wheeled Inverted Pendulum Systems Under Arbitrary Initial Conditions

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Prescribed Performance Control of Mobile Wheeled Inverted Pe...

International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Mengshi Zhang Yu Cao Bo Yang Jian Huang Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Shenzhen Huazhong University of Science and Technology Research Institute ShenZhen China

Mobile wheeled inverted pendulum (MWIP) is a typical naturally unstable underactuated system and it is very necessary to constrain its transient response to improve the overall safety. Prescribed performance control (PPC) is an effective method, however the system initial conditions are usually required to be known and constraint, otherwise it can lead to singularity problems. In practical systems, it is often difficult to obtain the exact initial state leading to limitations in the application of PPC. To overcome this issue, this paper presented a composite error transformation function to address the problem of initial condition dependence. A continuous bounded function was designed to compress the arbitrary initial error into the predefined bound to avoid singularities. After a set time, it was degraded to an original system error. Based on this composite transformation, a state feedback controller was proposed for the underactuated MWIP system to achieve the constraint outputs. Then, by employing the Lyapunov theorem, it was guaranteed that the closed-loop system would remain stable. Various numerical simulations under different initial conditions were carried out to prove the validity of the proposed controller.

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ADMEOOD: Out-of-Distribution Benchmark for Drug Property Prediction

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ADMEOOD: Out-of-Distribution Benchmark for Drug Property Pre...

2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Wei, Shuoying Li, Songquan Guo, Yifei Zhu, Lida Wen, Xinlong Zhu, Rongbo College of Informatics Huazhong Agricultural University Wuhan430070 China Shenzhen Institute of Nutrition and Health Huazhong Agricultural University Shenzhen518000 China Shenzhen Branch Guangdong Laboratory for Lingnan Modern Agriculture Genome Analysis Laboratory of the Ministry of Agriculture Agricultural Genomics Institute at Shenzhen Chinese Academy of Agricultural Sciences Shenzhen518000 China Engineering Research Center of Intelligent Technology for Agriculture Ministry of Education Hubei Wuhan430074 China Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Hubei Wuhan430074 China

ISBN: (纸本)9798350337488

Obtaining accurate and effective information for drug molecules is a crucial and challenging task, which relies on high-quality chemical knowledge. However, chemical knowledge has been accumulated over the past 100 years from various regions, laboratories, and experimental purposes, which contains a lot of noise and inconsistency, leading to the out-of-distribution (OOD) problem. OOD may results in weak robustness and unsatisfied performance. In order to solve OOD learning problem with noise, a novel benchmark: ADMEOOD is proposed, which is a systematic OOD dataset curator and specifically designed for drug property prediction. ADMEOOD screens 27 Absorption, Distribution, Metabolism and Excretion (ADME) drug properties from Chembl and relevant literature. This paper explicitly make distinctions between two kinds of OOD data shifts: Noise Shift and Concept Conflict Drift (CCD). Overall, ADME contains 6 domain annotations combined with noise, CCD and no shifts, resulting in 18 different splits in total. ADMEOOD provides performance results on a variety of SOTA OOD models. The results demonstrate a significant difference performance between in-distribution and OOD data. Moreover, Empirical Risk Minimization and other models exhibit distinct trends in different domains and measurement types. The ADMEOOD benchmark can be accessed via https://***/qweasdzxc-wsy/ADMEOOD/. © 2023 IEEE.

关键词： ADME Benchmark Drug property prediction Out-of-distribution

CLIP-guided Prototype Modulating for Few-shot Action Recognition

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arXiv 2023年

作者： Wang, Xiang Zhang, Shiwei Cen, Jun Gao, Changxin Zhang, Yingya Zhao, Deli Sang, Nong Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology China Alibaba Group China The Hong Kong University of Science and Technology Hong Kong

Learning from large-scale contrastive language-image pre-training like CLIP has shown remarkable success in a wide range of downstream tasks recently, but it is still under-explored on the challenging few-shot action recognition (FSAR) task. In this work, we aim to transfer the powerful multimodal knowledge of CLIP to alleviate the inaccurate prototype estimation issue due to data scarcity, which is a critical problem in low-shot regimes. To this end, we present a CLIP-guided prototype modulating framework called CLIP-FSAR, which consists of two key components: a video-text contrastive objective and a prototype modulation. Specifically, the former bridges the task discrepancy between CLIP and the few-shot video task by contrasting videos and corresponding class text descriptions. The latter leverages the transferable textual concepts from CLIP to adaptively refine visual prototypes with a temporal Transformer. By this means, CLIP-FSAR can take full advantage of the rich semantic priors in CLIP to obtain reliable prototypes and achieve accurate few-shot classification. Extensive experiments on five commonly used benchmarks demonstrate the effectiveness of our proposed method, and CLIP-FSAR significantly outperforms existing state-of-the-art methods under various settings. The source code and Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

Point-and-Shoot All-in-Focus Photo Synthesis from Smartphone Camera Pair

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arXiv 2023年

作者： Luo, Xianrui Peng, Juewen Zhao, Weiyue Xian, Ke Lu, Hao Cao, Zhiguo The Key Laboratory of Image Processing and Intelligent Control Ministry of Education The School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China The S-Lab for Advanced Intelligence Nanyang Technological University Singapore

All-in-Focus (AIF) photography is expected to be a commercial selling point for modern smartphones. Standard AIF synthesis requires manual, time-consuming operations such as focal stack compositing, which is unfriendly to ordinary people. To achieve point-and-shoot AIF photography with a smartphone, we expect that an AIF photo can be generated from one shot of the scene, instead of from multiple photos captured by the same camera. Benefiting from the multi-camera module in modern smartphones, we introduce a new task of AIF synthesis from main (wide) and ultra-wide cameras. The goal is to recover sharp details from defocused regions in the main-camera photo with the help of the ultra-wide-camera one. The camera setting poses new challenges such as parallax-induced occlusions and inconsistent color between cameras. To overcome the challenges, we introduce a predict-and-refine network to mitigate occlusions and propose dynamic frequency-domain alignment for color correction. To enable effective training and evaluation, we also build an AIF dataset with 2686 unique scenes. Each scene includes two photos captured by the main camera, one photo captured by the ultra-wide camera, and a synthesized AIF photo. Results show that our solution, termed EasyAIF, can produce high-quality AIF photos and outperforms strong baselines quantitatively and qualitatively. For the first time, we demonstrate point-and-shoot AIF photo synthesis successfully from main and ultra-wide cameras. Copyright © 2023, The Authors. All rights reserved.

关键词： Cameras

Spiking Neural Network for Intra-cortical Brain Signal Decoding

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arXiv 2025年

作者： Yang, Song Fu, Haotian Zhang, Herui Zhang, Peng Li, Wei Wu, Dongrui Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Hubei Key Laboratory of Brain-inspired Intelligent Systems Huazhong University of Science and Technology Wuhan430074 China Department of Biomedical Engineering College of Life Science and Technology Huazhong University of Science and Technology Wuhan430074 China

Decoding brain signals accurately and efficiently is crucial for intra-cortical brain-computer interfaces. Traditional decoding approaches based on neural activity vector features suffer from low accuracy, whereas deep learning based approaches have high computational cost. To improve both the decoding accuracy and efficiency, this paper proposes a spiking neural network (SNN) for effective and energy-efficient intra-cortical brain signal decoding. We also propose a feature fusion approach, which integrates the manually extracted neural activity vector features with those extracted by a deep neural network, to further improve the decoding accuracy. Experiments in decoding motor-related intra-cortical brain signals of two rhesus macaques demonstrated that our SNN model achieved higher accuracy than traditional artificial neural networks;more importantly, it was tens or hundreds of times more efficient. The SNN model is very suitable for high precision and low power applications like intracortical brain-computer interfaces. © 2025, CC BY.

关键词： Deep neural networks

Effective and Efficient Intracortical Brain Signal Decoding with Spiking Neural Networks

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arXiv 2024年

作者： Fu, Haotian Zhang, Peng Yang, Song Zhang, Herui Wang, Ziwei Wu, Dongrui Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Department of Biomedical Engineering College of Life Science and Technology Huazhong University of Science and Technology Wuhan430074 China

A brain-computer interface (BCI) facilitates direct interaction between the brain and external devices. To concurrently achieve high decoding accuracy and low energy consumption in invasive BCIs, we propose a novel spiking neural network (SNN) framework incorporating local synaptic stabilization (LSS) and channel-wise attention (CA), termed LSS-CA-SNN. LSS optimizes neuronal membrane potential dynamics, boosting classification performance, while CA refines neuronal activation, effectively reducing energy consumption. Furthermore, we introduce SpikeDrop, a data augmentation strategy designed to expand the training dataset thus enhancing model generalizability. Experiments on invasive spiking datasets recorded from two rhesus macaques demonstrated that LSS-CA-SNN surpassed state-of-the-art artificial neural networks (ANNs) in both decoding accuracy and energy efficiency, achieving 0.80-3.87% performance gains and 14.78-43.86 times energy saving. This study highlights the potential of LSS-CA-SNN and SpikeDrop in advancing invasive BCI applications. © 2024, CC BY.

关键词： Neurons

Instance Consistency Regularization for Semi-Supervised 3D Instance Segmentation

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arXiv 2024年

作者： Wu, Yizheng Pan, Zhiyu Wang, Kewei Li, Xingyi Cui, Jiahao Xiao, Liwen Lin, Guosheng Cao, Zhiguo The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China S-Lab Nanyang Technological University Singapore639798 Singapore Nanyang Technological University Singapore639798 Singapore

Large-scale datasets with point-wise semantic and instance labels are crucial to 3D instance segmentation but also expensive. To leverage unlabeled data, previous semi-supervised 3D instance segmentation approaches have explored self-training frameworks, which rely on high-quality pseudo labels for consistency regularization. They intuitively utilize both instance and semantic pseudo labels in a joint learning manner. However, semantic pseudo labels contain numerous noise derived from the imbalanced category distribution and natural confusion of similar but distinct categories, which leads to severe collapses in self-training. Motivated by the observation that 3D instances are non-overlapping and spatially separable, we ask whether we can solely rely on instance consistency regularization for improved semi-supervised segmentation. To this end, we propose a novel self-training network InsTeacher3D to explore and exploit pure instance knowledge from unlabeled data. We first build a parallel base 3D instance segmentation model DKNet, which distinguishes each instance from the others via discriminative instance kernels without reliance on semantic segmentation. Based on DKNet, we further design a novel instance consistency regularization framework to generate and leverage high-quality instance pseudo labels. Experimental results on multiple large-scale datasets show that the InsTeacher3D significantly outperforms prior state-of-the-art semi-supervised approaches. Code is available: https://***/W1zheng/InsTeacher3D. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

NPGA: A Unified Algorithmic Framework for Decentralized Constraint-Coupled Optimization

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arXiv 2022年

作者： Li, Jingwang Su, Housheng School of Artificial Intelligence and Automation The Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan430074 China

This work focuses on a class of general decentralized constraint-coupled optimization problems. We propose a novel nested primal-dual gradient algorithm (NPGA), which can achieve linear convergence under the weakest known condition, and its theoretical convergence rate surpasses all known results. More importantly, NPGA serves not only as an algorithm but also as a unified algorithmic framework, encompassing various existing algorithms as special cases. By designing different network matrices, we can derive numerous versions of NPGA and analyze their convergences by leveraging the convergence results of NPGA conveniently, thereby enabling the design of more efficient algorithms. Finally, we conduct numerical experiments to compare the convergence rates of NPGA and existing algorithms, providing empirical evidence for the superior performance of NPGA. Copyright © 2022, The Authors. All rights reserved.

关键词： Consensus algorithm

Implicit Tracking-Based Distributed Constraint-Coupled Optimization

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arXiv 2022年

作者： Li, Jingwang Su, Housheng The School of Artificial Intelligence and Automation The Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan430074 China

A class of distributed optimization problem with a globally coupled equality constraint and local constrained sets is studied in this paper. For its special case where local constrained sets are absent, an augmented primal-dual gradient dynamics is proposed and analyzed, but it cannot be implemented distributedly since the violation of the coupled constraint needs to be used. Benefiting from the brand-new comprehending of a classical distributed unconstrained optimization algorithm, the novel implicit tracking approach is proposed to track the violation distributedly, which leads to the birth of the implicit tracking-based distributed augmented primal-dual gradient dynamics (IDEA). A projected variant of IDEA, i.e., Proj-IDEA, is further designed to deal with the general case where local constrained sets exist. With the aid of the Lyapunov stability theory, the convergences of IDEA and Proj-IDEA over undigraphs and digraphs are analyzed respectively. As far as we know, Proj-IDEA is the first constant step-size distributed algorithm which can solve the studied problem without the need of the strict convexity of local cost functions. Besides, if local cost functions are strongly convex and smooth, IDEA can achieve exponential convergence with a weaker condition about the coupled constraint. Finally, numerical experiments are taken to corroborate our theoretical results. © 2022, CC BY.

关键词： Cost functions