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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

science China(Information sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control（MRAC） of linear time-invariant（LTI） systems: limt→∞ e（i）（t） = 0, i = 1,..., n*-1, where n*and e（i）（t） denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control（including indirect MRAC and indirect adaptive pole placement control） of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.（1） It can track a reference signal with any order derivatives being unknown.（2） It has higher-order exponential or practical output tracking properties.（3） Finally, it is different from the usual MRAC system, whose reference signal's derivatives up to the n*order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

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DMTG: One-Shot Differentiable Multi-Task Grouping 41

DMTG: One-Shot Differentiable Multi-Task Grouping

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41st International Conference on Machine Learning, ICML 2024

作者： Gao, Yuan Jiang, Shuguo Li, Moran Yu, Jin-Gang Xia, Gui-Song School of CS Wuhan University China School of EI Wuhan University China Tencent Youtu Lab China School of Automation Science and Engineering South China University of Technology China

We aim to address Multi-Task Learning (MTL) with a large number of tasks by Multi-Task Grouping (MTG). Given N tasks, we propose to simultaneously identify the best task groups from 2N candidates and train the model weights simultaneously in one-shot, with the high-order task-affinity fully exploited. This is distinct from the pioneering methods which sequentially identify the groups and train the model weights, where the group identification often relies on heuristics. As a result, our method not only improves the training efficiency, but also mitigates the objective bias introduced by the sequential procedures that potentially lead to a suboptimal solution. Specifically, we formulate MTG as a fully differentiable pruning problem on an adaptive network architecture determined by an underlying Categorical distribution. To categorize N tasks into K groups (represented by K encoder branches), we initially set up KN task heads, where each branch connects to all N task heads to exploit the high-order task-affinity. Then, we gradually prune the KN heads down to N by learning a relaxed differentiable Categorical distribution, ensuring that each task is exclusively and uniquely categorized into only one branch. Extensive experiments on CelebA and Taskonomy datasets with detailed ablations show the promising performance and efficiency of our method. The codes are available at https://***/ethanygao/DMTG. Copyright 2024 by the author(s)

关键词： Network architecture

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Data-Filtered Prediction with Decomposition and Amplitude-Aware Permutation Entropy for Workload and Resource Utilization in Cloud Data Centers

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IEEE Internet of Things Journal 2025年第12期12卷 19189-19201页

作者： Yuan, Haitao Hu, Qinglong Wang, Meijia Wang, Shen Bi, Jing Buyya, Rajkumar Shi, Shuyuan Yang, Jinhong Zhang, Jia Zhou, MengChu Beihang University School of Automation Science and Electrical Engineering Beijing100191 China City University of Hong Kong Department of Computer Science Hong Kong999077 Hong Kong Beijing University of Technology School of Software Engineering The Faculty of Information Technology Beijing100124 China Lab School of Computing and Information Systems MelbourneVIC3010 Australia Beihang University School of Integrated Circuit Science and Engineering Beijing China CSSC Systems Engineering Research Institute Beijing China Southern Methodist University Department of Computer Science The Lyle School of Engineering DallasTX75205 United States New Jersey Institute of Technology Department of Electrical and Computer Engineering NewarkNJ07102 United States

In recent years, cloud computing has witnessed widespread applications across numerous organizations. Predicting workload and computing resource data can facilitate proactive service operation management, leading to substantial improvements in quality of service and cost efficiency. However, these data often exhibit non-linearity, high volatility, and interdependencies across different categories, presenting challenges for accurate forecasting. Consequently, there is a critical need to develop a method that thoroughly and comprehensively analyzes all available data to forecast future trends effectively. This work proposes a novel integrated data-enhanced prediction model named SVAPI for achieving high-accuracy workload prediction in cloud computing systems. SVAPI employs the Savitzky-Golay filter, Variational mode decomposition, and the mode selection based on Amplitude-aware Permutation entropy for feature processing, whose features are subsequently utilized by Informer for multivariate joint analysis of the enhanced data, achieving high-precision prediction. Ablation and comparative experiments with advanced prediction models are conducted on the Google cluster trace and other typical datasets. Realistic data-driven results indicate that SVAPI improves the prediction accuracy by 37.7% compared to the original Informer, with each module contributing to the performance enhancement. Furthermore, compared with Autoformer, SVAPI enhances the prediction accuracy of workload, CPU, and memory by 65.6%, 66.9%, and 70.8%, respectively, demonstrating that SVAPI owns strong abilities in noise filtering, feature processing, and multivariate joint analysis for achieving higher prediction accuracy. © 2014 IEEE.

关键词： Quality of service

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Traj-LLM: A New Exploration for Empowering Trajectory Prediction With Pre-Trained Large Language Models

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Lan, Zhengxing Liu, Lingshan Fan, Bo Lv, Yisheng Ren, Yilong Cui, Zhiyong School of Transportation Science and Engineering Beihang University Beijing China Beijing Key Laboratory of Traffic Engineering College of Metropolitan Transportation Beijing University of Technology Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Transportation Science and Engineering State Key Lab of Intelligent Transportation System Beihang University Beijing China

Predicting the future trajectories of dynamic traffic actors is a cornerstone task in autonomous driving. Though existing notable efforts have resulted in impressive performance improvements, a gap persists in scene cognitive and understanding of complex traffic semantics. This paper proposes Traj-LLM, the first to investigate the potential of using pre-trained Large Language Models (LLMs) without explicit prompt engineering to generate future motions from vehicular past trajectories and traffic scene semantics. Traj-LLM starts with sparse context joint encoding to dissect the agent and scene features into a form that LLMs understand. On this basis, we creatively explore LLMs' strong understanding capability to capture a spectrum of high-level scene knowledge and interactive information. To emulate the human-like lane focus cognitive function and enhance Traj-LLM's scene comprehension, we introduce lane-aware probabilistic learning powered by the Mamba module. Finally, a multi-modal Laplace decoder is designed to achieve scene-compliant predictions. Extensive experiments manifest that Traj-LLM, fueled by prior knowledge and understanding prowess of LLMs, together with lane-aware probability learning, transcends the state-of-the-art methods across most evaluation metrics. Moreover, the few-shot analysis serves to substantiate Traj-LLM's performance, as even with merely 50% of the dataset, it surpasses the majority of benchmarks relying on complete data utilization. This study explores endowing the trajectory prediction task with advanced capabilities inherent in LLMs, furnishing a more universal and adaptable solution for forecasting agent movements in a new way. IEEE

关键词： Semantics

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Parameter Estimation and Tracking Control of MIMO Linear Systems Without Prior Knowledge of Control Signs and Parameter Bounds

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IEEE Transactions on Automatic Control 2024年第6期70卷 3695-3710页

作者： Xu, Yuchun Zhang, Yanjun Zhang, Ji-Feng Chinese Academy of Sciences Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Beijing100190 China Beijing Institute of Technology School of Automation Beijing100081 China Beijing Institute of Technology State Key Lab of Automation Intelligent Unmanned Systems Beijing100081 China University of Chinese Academy of Sciences School of Mathematics Sciences Beijing100149 China Zhongyuan University of Technology School of Automation and Electrical Engineering Zhengzhou450007 China Chinese Academy of Sciences Academy of Mathematics and Systems Science Beijing100190 China

Dealing with the uncertain high-frequency gain matrix, denoted as Kp, is a fundamental problem in multivariable adaptive control systems. In this paper, we propose a new solution for parameter estimation and adaptive control for a general class of multi-input multi-output discrete-time linear time-invariant systems. The proposed scheme does not require any prior knowledge of the sign or bound information of Kp, and thus, significantly relaxes the design conditions in traditional multivariable adaptive control systems. Compared with the commonly used Nussbaum gain or multi-model techniques for addressing the unknown signs of Kp, the proposed scheme does not rely on any additional design conditions or any switching mechanism, while still ensuring closed-loop stability and asymptotic output tracking. Specifically, an output feedback adaptive control law is developed based on a matrix decomposition technique, which leads to derivation of a modified estimation error model. Subsequently, a gradient-based parameter update law is formulated only relying on the non-zero condition of the leading principle minors of Kp. Through designing gain functions and stable filters, the controller is always non-singular and does not involve any causal contradiction problem. Simulation study showcases the design process and demonstrates the effectiveness of the proposed scheme. © 1963-2012 IEEE.

关键词： MIMO systems

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Revisiting the Power of Prompt for Visual Tuning 41

Revisiting the Power of Prompt for Visual Tuning

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41st International Conference on Machine Learning, ICML 2024

作者： Wang, Yuzhu Cheng, Lechao Fang, Chaowei Zhang, Dingwen Duan, Manni Wang, Meng Zhejiang Lab China School of Computer Science and Information Engineering Hefei University of Technology China School of Artificial Intelligence Xidian University China School of Automation Northwestern Polytechnical University China

Visual prompt tuning (VPT) is a promising solution incorporating learnable prompt tokens to customize pre-trained models for downstream tasks. However, VPT and its variants often encounter challenges like prompt initialization, prompt length, and subpar performance in self-supervised pretraining, hindering successful contextual adaptation. This study commences by exploring the correlation evolvement between prompts and patch tokens during proficient training. Inspired by the observation that the prompt tokens tend to share high mutual information with patch tokens, we propose initializing prompts with downstream token prototypes. The strategic initialization, a stand-in for the previous initialization, substantially improves performance. To refine further, we optimize token construction with a streamlined pipeline that maintains excellent performance with almost no increase in computational expenses compared to VPT. Exhaustive experiments show our proposed approach outperforms existing methods by a remarkable margin. For instance, after MAE pre-training, our method improves accuracy by up to 10%∼30% compared to VPT, and outperforms Full fine-tuning 19 out of 24 cases while using less than 0.4% of learnable parameters. Besides, the experimental results demonstrate the proposed SPT is robust to prompt lengths and scales well with model capacity and training data size. We finally provide an insightful exploration into the amount of target data facilitating the adaptation of pre-trained models to downstream tasks. The code is available at https://***/WangYZ1608/Self-PromptTuning. Copyright 2024 by the author(s)

关键词： Pipeline codes

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Centromere Landscapes Resolved from Hundreds of Human Genomes

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Genomics, Proteomics & Bioinformatics 2024年第5期22卷 61-71页

作者： Shenghan Gao Yimeng Zhang Stephen J. Bush Bo Wang Xiaofei Yang Kai Ye School of Automation Science and Engineering Faculty of Electronic and Information EngineeringXi'an Jiaotong UniversityXi'an 710049China School of Computer Science and Technology Faculty of Electronic and Information EngineeringXi'an Jiaotong UniversityXi'an 710049China MOE Key Lab for Intelligent Networks&Networks Security Faculty of Electronic and Information EngineeringXi'an Jiaotong UniversityXi'an 710049China Center for Mathematical Medical The First Affiliated HospitalXi'an Jiaotong UniversityXi'an 710061China School of Life Science and Technology Xi'an Jiaotong UniversityXi'an 710049China Faculty of Science Leiden UniversityLeiden 2311 EZThe Netherlands

High-fidelity(HiFi)sequencing has facilitated the assembly and analysis of the most repetitive region of the genome,the ***,our current understanding of human centromeres is based on a relatively small number of telomere-to-telomere assemblies,which have not yet captured its full *** this study,we investigated the genomic diversity of human centromere higher order repeats(HORs)via both HiFi reads and haplotype-resolved assemblies from hundreds of samples drawn from ongoing pangenome-sequencing projects and reprocessed them via a novel HOR annotation pipeline,*** used this wealth of data to provide a global survey of the centromeric HOR landscape;in particular,we found that 23 HORs presented significant copy number variability between *** detected three centromere genotypes with unbalanced population frequencies on chromosomes 5,8,and *** inter-assembly comparison of HOR loci further revealed that while HOR array structures are diverse,they nevertheless tend to form a number of specific landscapes,each exhibiting different levels of HOR subunit expansion and possibly reflecting a cyclical evolutionary transition from homogeneous to nested structures and back.

关键词： Centromere sequence Genome evolution High-fidelity sequencing technology Higher order repeat annotation Human population

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De-combination of belief function based on optimization

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Chinese Journal of Aeronautics 2022年第5期35卷 179-193页

作者： Xiaojing FAN Deqiang HAN Yi YANG Jean DEZERT School of Automation Science and Engineering Xi’an Jiaotong UniversityXi’an 710049China SKLSVMS School of AerospaceXi’an Jiaotong UniversityXi’an 710049China ONERA The French Aerospace LabPalaiseau 91761France

In the theory of belief functions,the evidence combination is a kind of decision-level information *** two or more Basic Belief Assignments(BBAs)originated from different information sources,the combination rule is used to combine them to expect a better decision *** only a combined BBA is given and original BBAs are discarded,if one wants to analyze the difference between the information sources,evidence de-combination is needed to determine the original *** de-combination can be considered as the inverse process of the information *** paper focuses on such a defusion of information in the theory of belief *** is an under-determined problem if only the combined BBA is *** this paper,two optimization-based approaches are proposed to de-combine a given BBA according to the criteria of divergence maximization and information maximization,*** new proposed approaches can be used for two or more information *** numerical examples and an example of application are provided to illustrate and validate our approaches.

关键词： Belief functions De-combination Divergence maximization Information fusion Information maximization

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PCA lab's solution for RePSS 2024 by vision-based self-supervised remote heart rate sensing 3

PCA Lab's solution for RePSS 2024 by vision-based self-super...

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3rd Vision-Based Remote Physiological Signal Sensing Challenge and Workshop, RePSS 2024

作者： Shao, Hang Luo, Lei Qian, Jianjun Zhuo, Wei Hu, Chuanfei Yang, Jian PCA Lab School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China School of Automation Southeast University Nanjing211189 China Nanjing Center for Applied Mathematics Nanjing211135 China

Vision-based remote non-contact physiological measurements are crucial for detecting indicators (such as heart rate and blood pressure) that reflect important vital signs. This paper introduces the approach proposed by PCA lab in the third challenge on Vision-based Remote Physiological Signal Sensing (RePSS) organized within IJCAI 2024. Specifically, we design an end-to-end self-supervised contrastive learning network for remote heart rate detection, which can generalize light reflection changes caused by cardiac activity in subcutaneous capillaries based on unlabeled facial videos. At the same time, we optimize the facial skin region of interest extraction method and remove most of the irrelevant content and redundant information. In addition, we construct the hybrid pipeline temporal attention module and spatiotemporal reconstruction pretraining paradigm to improve the network's ability to model long-distance sequence features. Our network is tested on 1000 samples from 200 participants provided by the Track 1 of this challenge, and it achieve the root mean squared error of 8.96941. The codes and model are publicly available at https://***/Sachiel0916/repss-track1-top3/. © 2024 Copyright for this paper by its authors.

关键词： contrastive learning remote heart rate sensing RePSS self-supervision framework spatiotemporal reconstruction

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Consensus CIF-Based IMM Filtering for Multiple-UAV Target Tracking

Consensus CIF-Based IMM Filtering for Multiple-UAV Target T...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Li, Jingchun Yuan, Guangsong Duan, Haibin Peng Cheng Lab Shenzhen518055 China School of Automation Science and Electrical Engineering Beihang University Beijing100083 China

ISBN: (纸本)9789811966125

Aimed at requirements of high estimation accuracy and less consensus iterations for multiple UAVs target tracking, a hybrid consensus cubature information filter (CIF)-based interacting multiple-model (CCIF-IMM) filter is proposed. The CIF-IMM framework is employed for distributed estimation to increase the nonlinear estimation accuracy, and the measurements of adjacent UAVs are fully used to improve the global observability by the CCIF-IMM. Besides, the hybrid consensus on measurement and information is employed for the CCIF-IMM filter to achieve the global consistency with less iteration steps. Moreover, the simulation results illustrate that CCIF-IMM can accurately track the mode transition of the maneuvering target and achieves better estimation performance in multiple UAVs target tracking. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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