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arXiv 2024年

作者： Li, Jiajia Lammers, Kyle Yin, Xunyuan Yin, Xiang He, Long Lu, Renfu Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States School of Chemical and Biomedical Engineering Nanyang Technological University Singapore Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Department of Agricultural and Biological Engineering Pennsylvania State University United States United States Department of Agriculture Agricultural Research Service East LansingMI United States Department of Mechanical Engineering Michigan State University East LansingMI United States

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset (https://***/datasets/jiajiali/metafruit) and detection framework (https://***/JiajiaLi04/FMFruit) are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, CC BY-NC-SA.

关键词： Fruits

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Metafruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models

SSRN

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SSRN 2024年

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset and detection framework are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, The Authors. All rights reserved.

关键词： Fruits

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Graph-based Simultaneous Localization and Bias Tracking for Robust Positioning in Obstructed LOS Situations

Graph-based Simultaneous Localization and Bias Tracking for ...

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Asilomar Conference on Signals, Systems & computers

作者： Alexander Venus Erik Leitinger Stefan Tertinek Florian Meyer Klaus Witrisal Signal Processing and Speech Communication Laboratory Graz University of Technology Christian Doppler Laboratory for Location-aware Electronic Systems NXP Semiconductors Austria Department of Electrical and Computer Engineering Scripps Institution of Oceanography University of California San Diego

We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together with a time-varying number of multipath components (MPCs). The MPCs are represented by “delay biases” corresponding to the offset between line-of-sight (LOS) component delay and the respective delays of all detectable MPCs. The delay biases of the MPCs capture the geometric features of the propagation environment with respect to the mobile agent. Therefore, they can provide position-related information contained in the MPCs without explicitly building a map of the environment. We demonstrate that the position-related information enables the algorithm to correctly infer the agent position even in fully obstructed LOS situations. In a challenging scenario we demonstrate the presented algorithm to significantly outperform state-of-the-art multipath-aided tracking algorithms and show that the performance of our algorithm attains the posterior Cramér-Rao lower bound (PCRLB).

关键词： Location awareness Tracking Atmospheric measurements Mobile agents Clustering algorithms Position measurement Particle measurements

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Transclaw U-Net: Claw U-Net With Transformers for Medical Image Segmentation

Transclaw U-Net: Claw U-Net With Transformers for Medical Im...

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IEEE International Conference on Information Communication and Signal processing (ICICSP)

作者： Chang Yao Menghan Hu Qingli Li Guangtao Zhai Xiao-Ping Zhang Shanghai Key Laboratory of Multidimensional Information Processing East China Normal University Shanghai China Institute of Image Communication and Information Processing Shanghai Jiao Tong University Shanghai China Department of Electrical Computer and Biomedical Engineering Ryerson University Toronto Canada

In medical image analysis, the long-range spatial features are often not accurately obtained by the traditional convolutional neural networks. Hence, we propose a TransClaw U-Net network structure. The transformer part is added after three convolution operations to fuse shallow features extracted by convolution operations for maximally encoding the long-range spatial features between patches. The “Claw” in TransClaw U-net means that we add the bottom upsampling part to retain the deepest feature information for detail segmentation. In addition, the modified three-channel global attention mechanism to blend the outputs of three channels (the encoding part, the bottom upsampling part and the decoding part) to effectively extract image contours. The experimental results on Synapse Multi-organ Segmentation Dataset show that TransClaw U-Net performs better than other networks. The results of ablation experiments prove the effectiveness of the three improved components of the network and influence of input image size and skip-connection numbers on network performance. The source code will be publicly available once the paper is accepted.

关键词： Measurement Image segmentation Image coding Convolution Fuses Source coding Transformers

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On Enlarging the Domain of Attraction for Linear Systems Subject to Asymmetric Actuator Saturation

On Enlarging the Domain of Attraction for Linear Systems Sub...

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IEEE Conference on Decision and Control

作者： Wenxin Lai Yuanlong Li Zongli Lin 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 Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA U.S.A.

In this paper, we revisit the problem of enlarging the domain of attraction for linear systems with asymmetric actuator saturation. We partition the state space into several regions according to the sign of each input and rewrite the linear system subject to asymmetric actuator saturation as an equivalent switched system, each subsystem of which is associated with one partition of the state space and is a linear system subject to symmetric actuator saturation. Based on this equivalent representation of the system, we present a Lyapunov function, which is composed of a set of quadratic functions associated with matrices that are not required to be positive definite. We establish sufficient conditions for regional stability and, based on them, formulate optimization problems to enlarge the estimate of the domain of attraction. Simulation results illustrate the effectiveness of the proposed approach.

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An Improved Method for Approximating the Infinite-horizon Value Function of the Discrete-time Switched LQR Problem

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IFAC-PapersOnLine 2023年第2期56卷 4138-4143页

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 U.S.A.

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR problem. In particular, we propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value function. This method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration, and thus, our method is capable of achieving a better approximation for a given computation time compared with the existing methods. Two numerical examples are presented in this paper to illustrate the effectiveness of our method.

关键词： Switched linear systems optimal control switched LQR problem

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Eye movement patterns are similar during accurate multiple-target tracking

Eye movement patterns are similar during accurate multiple-t...

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International Conference on Cognitive Infocommunications (CogInfoCom)

作者： Kamyar Bagha Shiva Kamkar Hamid Abrishami Moghaddam Lauri Oksama Jie Li Jukka Hyönä Computer Engineering Department Khatam University Tehran Iran Machine Vision and Medical Image Processing (MVMIP) Laboratory Faculty of Electrical Engineering K.N.Toosi University of Technology Tehran Iran Center for International Scientific Studies and Collaboration (CISSC) Tehran Iran Department of Psychology and Speech-Language Pathology University of Turku Turku Finland Center for Cognition and Brain Disorders Hangzhou Normal University Hangzhou China

ISBN: (数字)9798350378245

ISBN: (纸本)9798350378252

Understanding how the brain works is a base of cognitive info-communication. To this aim we focus on multiple target tracking (MTT) as a key task that involves two important cognitive factors, attention and memory. Humans track multiple objects in their daily life while facing various challenges including occlusion and set-size. Eye movement research has shown that there are within and between subjects’ differences in scanpaths while performing MTT tasks. However, it is unclear if there is a winning scan pattern that would lead to a successful tracking of targets. To answer this question, we used dynamic time warping to compare the similarities between subjects’ scan patterns during an MTT task with different challenges. We studied the effect of set-size, occlusion, and trial response on the similarities. Then a mixed effect analysis was applied on the output to measure whether the findings were statistically significant. Results demonstrated that scan patterns were more similar when MTT task was performed correctly. It suggests that there is a common tracking strategy adopted by the viewers that leads to a correct response. Decoding this strategy has countless applications in the fields including human-computer interaction, brain-modeling and cognitive info-communication.

关键词： Human computer interaction Visualization Target tracking Accuracy Predictive models Communications technology Time measurement Cognition Decoding Cognitive science

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Vehicular Multi-Tier Distributed Computing with Hybrid THz-RF Transmission in Satellite-Terrestrial Integrated Networks

arXiv

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arXiv 2025年

作者： Zhang, Ni Wang, Kunlun Chen, Wen Xu, Jing Li, Yonghui Nallanathan, Arumugam Shanghai Key Laboratory of Multidimensional Information Processing East China Normal University Shanghai200241 China School of Communication and Electronic Engineering East China Normal University Shanghai200241 China Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China School of Electrical and Information Engineering The University of Sydney Australia School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom

In this paper, we propose a Satellite-Terrestrial Integrated Network (STIN) assisted vehicular multi-tier distributed computing (VMDC) system leveraging hybrid terahertz (THz) and radio frequency (RF) communication technologies. Task offloading for satellite edge computing is enabled by THz communication using the orthogonal frequency division multiple access (OFDMA) technique. For terrestrial edge computing, we employ non-orthogonal multiple access (NOMA) and vehicle clustering to realize task offloading. We formulate a non-convex optimization problem aimed at maximizing computation efficiency by jointly optimizing bandwidth allocation, task allocation, subchannelvehicle matching and power allocation. To address this non-convex optimization problem, we decompose the original problem into four sub-problems and solve them using an alternating iterative optimization approach. For the subproblem of task allocation, we solve it by linear programming. To solve the subproblem of sub-channel allocation, we exploit many-to-one matching theory to obtain the result. The subproblem of bandwidth allocation of OFDMA and the subproblem of power allocation of NOMA are solved by quadratic transformation method. Finally, the simulation results show that our proposed scheme significantly enhances the computation efficiency of the STIN-based VMDC system compared with the benchmark schemes. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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Integration of NOMA with Reflecting Intelligent Surfaces: A Multi-cell Optimization with SIC Decoding Errors

arXiv

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arXiv 2022年

作者： Khan, Wali Ullah Lagunas, Eva Mahmood, Asad Ali, Zain Asif, Muhammad Chatzinotas, Symeon Ottersten, Björn SnT University of Luxembourg Luxembourg Department of Electrical and Computer Engineering University of California Santa Cruz United States Guangdong Key Laboratory of Intelligent Information Processing College of Electronics and Information Engineering Shenzhen Univerisyt Guangdong Shenzhen China

Reflecting intelligent surfaces (RIS) has gained significant attention due to its high energy and spectral efficiency in next-generation wireless networks. By using low-cost passive reflecting elements, RIS can smartly reconfigure the signal propagation to extend the wireless communication coverage. On the other hand, non-orthogonal multiple access (NOMA) has been proven as a key air interface technique for supporting massive connections over limited resources. Utilizing the superposition coding and successive interference cancellation (SIC) techniques, NOMA can multiplex multiple users over the same spectrum and time resources by allocating different power levels. This paper proposes a new optimization scheme in a multi-cell RIS-NOMA network to enhance the spectral efficiency under SIC decoding errors. In particular, the power budget of the base station and the transmit power of NOMA users while the passive beamforming of RIS is simultaneously optimized in each cell. Due to objective function and quality of service constraints, the joint problem is formulated as non-convex, which is very complex and challenging to obtain the optimal global solution. To reduce the complexity and make the problem tractable, we first decouple the original problem into two sub-problems for power allocation and passive beamforming. Then, the efficient solution of each sub-problem is obtained in two-steps. In the first-step of For power allocation sub-problem, we transform it to a convex problem by the inner approximation method and then solve it through a standard convex optimization solver in the second-step. Accordingly, in the first-step of passive beamforming, it is transformed into a standard semi-definite programming problem by successive convex approximation and different of convex programming methods. Then, penalty based method is used to achieve a Rank-1 solution for passive beamforming in second-step. Numerical results demonstrate the benefits of the proposed optimization sche

关键词： Convex optimization

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Monaural Speech Enhancement Using a Multi-Branch Temporal Convolutional Network

SSRN

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SSRN 2022年

作者： Zhang, Qiquan Qian, Xinyuan Nicolson, Aaron Wang, Chenxu Paliwal, Kuldip K. Department of Electrical and Computer Engineering National University of Singapore Singapore Australian e-Health Research Centre CSIRO Australia School of Information and Electrical Engineering Harbin Institute of Technology Weihai264209 China Signal Processing Laboratory Griffith University BrisbaneQLD4160 Australia

Deep learning has achieved substantial improvement on single-channel speech enhancement. The performance of multi-layer perceptrons (MLPs)-based methods is limited by the ability to capture the long-term contextual information. The recurrent neural networks (RNNs), e.g., long short-term memory (LSTM) model, are able to capture the long-term temporal dependencies, but suffer from the high latency and the complex training process. Recently, temporal convolution networks (TCNs), employing 1-D dilated convolution and residual learning, achieves gained considerable success in speech enhancement. In this paper we propose a novel TCN model that employs multi-branch structure, called multi-branch TCN (MB-TCN), for monaural speech enhancement. The MB-TCN exploits split-transform-aggregate design, which is expected to obtain strong representational power with higher parameter efficiency. The MB-TCN model applies 1-D causal dilated CNN in each branch to expand receptive fields for capturing long-term temporal contextual information. Our extensive experimental investigation suggests that MB-TCNs outperform the residual LSTMs (ResLSTMs), TCNs, and the CNNs with dense aggregations (DenseNet) in terms of speech intelligibility and quality, while providing superior parameter efficiency. Furthermore, our proposed MB-TCN model demonstrates highly competitive performance to multiple state-of-the-art speech enhancement methods in terms of five widely used objective metrics. © 2022, The Authors. All rights reserved.

关键词： Convolution

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