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Journal of Network Intelligence 2025年第1期10卷 559-572页

作者： Wang, Hong Wang, Yi-Gui Zhang, Jie Department of Computer and Software Engineering Shandong College of Electronic Technology Jinan250200 China School of Computer Science and Technology Shandong Jianzhu University Jinan250101 China College of Agricultural Science and Technology Yana Royal Polytechnic University Chiang Mai50000 Thailand

Traditional autonomous navigation methods for mobile robots mainly rely on geometric feature-based LiDAR scan-matching algorithms, but in complex environments, this method is often affected due to the presence of moving objects, occlusions, and other interfering factors, resulting in a decrease in positioning accuracy. With the growing demand for robotics applications in logistics, security, exploration and other fields, the need for robust autonomous navigation and high-precision mapping in highly dynamic and complex environments is becoming more and more urgent. To solve this problem, an improved front-end scan matching algorithm based on Frequency Modulated Continuous Wave (FMCW) LiDAR is proposed in this paper. Firstly, by using the target Doppler velocity information provided by the FMCW LiDAR, we design a novel point cloud segmentation algorithm based on velocity clustering, which is able to effectively distinguish between stationary and moving objects, and avoid the dynamic interference affecting the position estimation. Secondly, we introduce the Gaussian Mixture Model Sampling Consistency (GMMSC) algorithm, which is more robust to reject the mis-matched pairs in the scanning matching process and improve the alignment accuracy. Finally, based on the residual high-quality matched pairs, we combine the classical ICP algorithm with the robust kernel function to further enhance the stability of the position estimation in the case of occlusion and local mismatch. The experimental results show that the proposed improved algorithm significantly improves the mapping capability of mobile robots in complex environments compared with the existing techniques. The average relative error of the improved front-end scanning matching algorithm is reduced by 40.6 % compared with the pre-improved one. © 2025, Taiwan Ubiquitous Information CO LTD. All rights reserved.

关键词： Mobile robots

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Research on Obstacle Avoidance Algorithm of UAVs Reinforcement Learning based on Vision 5

Research on Obstacle Avoidance Algorithm of UAVs Reinforceme...

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5th International Conference on Frontiers Technology of Information and computer, ICFTIC 2023

作者： Gao, Yuan Shi, Tianwei Xu, Teng Ding, Jianbang Jing, Rongchen University of Science and Technology Liaoning School of Computer Science and Software Engineering Anshan China

ISBN: (纸本)9798350309034

In recent years, the combination of deep reinforcement learning and unmanned aerial vehicle (UAV) to achieve autonomous flight has been a hot research field. In this paper, an obstacle avoidance navigation algorithm (PA-SAC) based on priority experience buffer pool (PEBP), attention, and Soft-Actor-Critic (SAC) is proposed to solve the continuous space obstacle avoidance navigation problem of UAVs by using a deep reinforcement learning algorithm. In the two simulation experiments, the success rate of the PA-SAC algorithm was 95.6% in the known environment and 73% in the unknown environment. These results demonstrate that the PA-SAC algorithm can achieve autonomous obstacle avoidance for UAVs with deep image input. © 2023 IEEE.

关键词： Attention component Obstacle Avoidance PEBP UAVs

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Monte Carlo Simulation-Based Robust Workflow Scheduling for Spot Instances in Cloud Environments

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Tsinghua science and Technology 2024年第1期29卷 112-126页

作者： Quanwang Wu Jianzhao Fang Jie Zeng Junhao Wen Fengji Luo College of Computer Science Chongqing UniversityChongqing 400044China National Experimental Teaching Demonstration Center Chongqing UniversityChongqing 400044China College of Big Data and Software Engineering Chongqing UniversityChongqing 400044China School of Civil Engineering The University of SydneySydney 2006Australia

When deploying workflows in cloud environments,the use of Spot Instances(SIs)is intriguing as they are much cheaper than on-demand ***,Sls are volatile and may be revoked at any time,which results in a more challenging scheduling problem involving execution interruption and hence hinders the successful handling of conventional cloud workflow scheduling *** some scheduling methods for Sls have been proposed,most of them are no more applicable to the latest Sls,as they have evolved by eliminating bidding and simplifying the pricing *** study focuses on how to minimize the execution cost with a deadline constraint when deploying a workflow on volatile Sls in cloud *** on Monte Carlo simulation and list scheduling,a stochastic scheduling method called MCLS is devised to optimize a utility function introduced for this *** the Monte Carlo simulation framework,MCLS employs sampled task execution time to build solutions via deadline distribution and list scheduling,and then returns the most robust solution from all the candidates with a specific evaluation mechanism and selection *** results show that the performance of MCLS is more competitive comparedwithtraditionalalgorithms.

关键词： constrained optimization Monte Carlo simulation robustness Spot Instances(Sls) workflow scheduling

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Joint Optimization of Fairness and Energy Efficiency in Zero-Trust Federated Learning for Consumer Internet of Things: A Lossy Communication Perspective

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IEEE Transactions on Consumer Electronics 2024年第1期71卷 1-1页

作者： Zhang, Kejia Sun, Jialong Feng, Qiaoqiao Huang, Xumin Jiang, Chunlei Hossain, M. Shamim School of Mathematical Science Heilongjiang University Harbin China School of Automation Guangdong University of Technology Guangzhou China Department of Software Engineering College of Computer and Information Sciences King Saud University Riyadh Saudi Arabia

The Consumer Internet of Things (CIoT) represents a transformative technological paradigm, seamlessly integrating the digital and physical worlds to enhance and simplify everyday life. In this context, Zero-Trust Federated Learning (ZTFL) further empowers CIoT and spawns a series of emerging applications. However, zero-trust federated learning often encounters bottlenecks in energy consumption and efficiency. The above bottleneck problems hinder the further application and expansion of CIoT, which is not conducive to the healthy development of CIoT. Therefore, this study focuses on the issue of joint optimization of fairness and energy efficiency in ZTFL, particularly in the context of lossy communications. This research explores the fairness problem of ZTFL by Lyapunov optimization in a frequency division multiple access (FDMA) system to address these challenges. It proposes a method of dynamic queue quantification of consumer electronics device participation that considers the packet loss rate. Analyzing the objective function, we transform some non-convex functions into convex functions and provide analytical solutions. Furthermore, we experimentally evaluated our model using the MNIST, Cifar10, and Cifar100 datasets, with results showing that, under lossy communications, our proposed model can significantly improve model accuracy while maintaining an average 26% reduction in communication completion. Our data and code are available at https://***/sunjia123456789/The-Faired-FL. IEEE

关键词： Internet of things

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Resisting Over-Smoothing in Graph Neural Networks via Dual-Dimensional Decoupling 24

Resisting Over-Smoothing in Graph Neural Networks via Dual-D...

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32nd ACM International Conference on Multimedia, MM 2024

作者： Shen, Wei Ye, Mang Huang, Wenke National Engineering Research Center for Multimedia Software School of Computer Science Wuhan University Wuhan China

ISBN: (纸本)9798400706868

Graph Neural Networks (GNNs) are widely employed to derive meaningful node representations from graphs. Despite their success, deep GNNs frequently grapple with the oversmoothing issue, where node representations become highly indistinguishable due to repeated aggregations. In this work, we consider the oversmoothing issue from two aspects of the node embedding space: dimension and instance. Specifically, while existing methods primarily concentrate on instance-level node relations to mitigate oversmoothing, we propose to mitigate oversmoothing at dimension level. We reveal the heightened information redundancy between dimensions which diminishes information diversity and impairs node differentiation in GNNs. Motivated by this insight, we propose the Dimension-Level Decoupling (DLD) to reduce dimension redundancy, enhancing dimensional-level node differentiation. Besides, at the instance level, the neglect of class differences leads to vague classification boundaries. Hence, we introduce the Instance-Level Class-Difference Decoupling (ICDD) that repels inter-class nodes and attracts intra-class nodes, improving the instance-level node discrimination with clear classification boundaries. Additionally, we introduce a novel evaluation metric that considers the impact of class differences on node distances, facilitating precise oversmoothing measurement. Extensive experiments demonstrate the effectiveness of our method Dual-Dimensional Class-Difference Decoupling (DDCD) across diverse scenarios. © 2024 ACM.

关键词： Graph neural networks

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A Novel Data Mining Framework for Discovering Association Rules in Multivariate Time Series 7

A Novel Data Mining Framework for Discovering Association Ru...

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7th International Conference on Advanced Algorithms and Control engineering, ICAACE 2024

作者： Wang, Shengwei Lyu, Jianhua Zhang, Baili School Of Software Southeast University Nanjing China College Of Computer Science And Engineering Southeast University Nanjing China

ISBN: (纸本)9798350361445

As a significant field within data mining, association rule mining plays a pivotal role in unveiling relationships between items within a dataset. Existing approaches in multivariate time series (MTS) association rule mining primarily emphasize the generation of association rules by combining features from different variables, but neglect to adequately consider the temporal relationship between these features and ignore the trend information of variables, resulting in an incomplete capture of the essential characteristics inherent in MTS data. In this paper, we introduce a novel framework for association rule mining in multivariate time series. First, we discretize the multivariate time series into the symbolic sequence using trend-based symbolic aggregate approximation(TSAX). Then, a rule mining method is introduced to discover association rules that consider the temporal relationship among symbols of different variables. The results of experiments demonstrate the discovery of significant rules within the 'Weather&Traffic' dataset which gives the traffic conditions in France depending on the weather. Further, we also provide the outcomes of the sensitivity analysis conducted on our method, illustrating that significant rules can be mined by adjusting the parameters of TSAX to different settings. The experimental results highlight the utility of our proposed framework in discovering temporal association rules within multivariate time series datasets. © 2024 IEEE.

关键词： Association rules

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Empowering Visible-Infrared Person Re-Identification with Large Foundation Models 38

Empowering Visible-Infrared Person Re-Identification with La...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Hu, Zhangyi Yang, Bin Ye, Mang National Engineering Research Center for Multimedia Software School of Computer Science Wuhan University Wuhan China

Visible-Infrared Person Re-identification (VI-ReID) is a challenging cross-modal retrieval task due to significant modality differences, primarily resulting from the absence of color information in the infrared modality. The development of large foundation models like Large Language Models (LLMs) and Vision Language Models (VLMs) motivates us to explore a feasible solution to empower VI-ReID with off-the-shelf large foundation models. To this end, we propose a novel Text-enhanced VI-ReID framework driven by Large Foundation Models (TVI-LFM). The core idea is to enrich the representation of the infrared modality with textual descriptions automatically generated by VLMs. Specifically, we incorporate a pre-trained VLM to extract textual features from texts generated by VLM and augmented by LLM, and incrementally fine-tune the text encoder to minimize the domain gap between generated texts and original visual modalities. Meanwhile, to enhance the infrared modality with extracted textual representations, we leverage modality alignment capabilities of VLMs and VLM-generated feature-level filters. This enables the text model to learn complementary features from the infrared modality, ensuring the semantic structural consistency between the fusion modality and the visible modality. Furthermore, we introduce modality joint learning to align features across all modalities, ensuring that textual features maintain stable semantic representation of overall pedestrian appearance during complementary information learning. Additionally, a modality ensemble retrieval strategy is proposed to leverage complementary strengths of each query modality to improve retrieval effectiveness and robustness. Extensive experiments on three expanded VI-ReID datasets demonstrate that our method significantly improves the retrieval performance, paving the way for the utilization of large foundation models in downstream multi-modal retrieval tasks. © 2024 Neural information processing systems foundat

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EDAW: Enhanced Knowledge Distillation and Adaptive Pseudo Label Weights for Continual Named Entity Recognition

EDAW: Enhanced Knowledge Distillation and Adaptive Pseudo La...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Sheng, Yubin Zhang, Zuping Tang, Panrui Huang, Bo Xiao, Yao School of Computer Science and Engineering Central South University Chang-sha China School of Software Xinjiang University Urumqi China

ISBN: (纸本)9781665410205

Continual Learning for Named Entity Recognition (CL-NER) is designed to train models capable of adapting to evolving data by continuously introducing new entity types. This approach is crucial in dynamic environments where data evolves, such as social media, healthcare, and legal documents, necessitating the model to retain the memory of previously learned entity types while learning to identify new ones. However, due to the neural network's tendency to acquire new knowledge and forget old knowledge in continual learning and the unique non-entity type annotations in NER tasks, CL-NER faces severe catastrophic forgetting and semantic drift issues. In this paper, we propose Enhanced Knowledge Distillation and Entropy-based Adaptive Pseudo Label Weights (EDAW) to address the catastrophic forgetting and semantic drift issues in CL-NER. Specifically, we develop an enhanced knowledge distillation method that combines Kullback-Leibler divergence and feature cosine discrepancy. This method effectively minimizes the variance in output probability distributions and aligns the internal feature spaces between new and old models, thus reducing catastrophic forgetting. Additionally, we propose an entropy-based adaptive pseudo label weight method that allows the model to assign different weights to pseudo labels with varying certainties during training, effectively alleviating semantic drift and error accumulation caused by erroneous relabeling of pseudo labels. Notably, this study pioneers the in-clusion of a Chinese dataset in CL-NER, enhancing the model's robustness and demonstrating its efficacy in a multilingual context. Experiments on fourteen CL-NER settings across four public NER datasets show that EDAW improves average Micro-F1 and Macro-F1 scores by 3.44% and 3.72%, respectively, over existing state-of-the-art(SOTA) methods. We make our code available at: https://***/livosr/EDAW/tree/master © 2024 IEEE.

关键词： Semantics

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Machine Learning Model for Recipe Optimization of College Students Based on Simulated Annealing 3

Machine Learning Model for Recipe Optimization of College St...

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3rd International Conference on Data Analytics, Computing and Artificial Intelligence, ICDACAI 2024

作者： Sheng, Peizhi Chen, Xuhao School of Computer and Information Science Software Southwest University Chongqing China School of Engineering and Technology Southwest University Chongqing China

ISBN: (纸本)9798331519032

This paper first made a comprehensive dietary nutrition evaluation of the two recipes provided, and conducted a visual analysis of the differences of various nutrient components by querying the "Table of Chinese Food Ingredients". The nutrients involved included major daily productivity nutrients such as protein and fat, and non-productivity nutrients such as calcium, iron and zinc, which were used as collaborative evaluation indicators. Secondly, in order to specifically evaluate the daily diet of two male and female students, we pointed out the problems in the diet according to the Basic requirements for Analysis, Evaluation and Optimal Design of Dietary Recipes, and then adjusted and improved them, and made a comprehensive dietary nutrition evaluation again. Finally, the diet after adjustment has been improved to basically meet the nutritional requirements. Then, two models are established. Firstly, a model based on linear programming algorithm is established to solve the problem, and a model based on simulated annealing algorithm is established as a backup scheme and innovative ideas. Then, we used Model 1 to optimize male and female college birthday meal recipes with different goals (most economical, highest AAS, and dual goals). Finally, we also compare these three kinds of daily diet recipes with different objective optimization, and get the conclusion that the daily diet recipes with dual objective optimization have the highest cost performance. Finally, in order to realize the optimal design of weekly balanced diet, the paper extends the optimization model of daily diet based on problem 2. In order to solve the problem that the extended optimization model is difficult to solve due to too many decision variables, we propose a random elimination strategy to solve the weekly recipe scheme step by step according to the time granularity. After the design of daily recipes for each day is completed, the food of the day is eliminated from the daily recipes of the n

关键词： Simulated annealing

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CLIP-Guided Bidirectional Prompt and Semantic Supervision for Dynamic Facial Expression Recognition 18

CLIP-Guided Bidirectional Prompt and Semantic Supervision fo...

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18th IEEE International Joint Conference on Biometrics, IJCB 2024

作者： Zhang, Junliang Liu, Xu Liang, Yu Xian, Xiaole Xie, Weicheng Shen, Linlin Song, Siyang Shenzhen University School of Computer Science & Software Engineering China University of Leicester School of Computing and Mathematical Sciences United Kingdom

ISBN: (纸本)9798350364132

Due to the insufficient semantic information supervision in existing works for dynamic facial expression recognition (DFER), videos with similar facial changes but different expressions may be easily confused. Thanks to the potential textual information for semantic supervision, contrastive language-image pretraining (CLIP) model provides a new direction for DFER. However, pre-trained CLIP based on image-text pairs has difficulty in capturing temporal features in the video domain. Therefore, we propose a novel visual language model that captures and aggregates dynamic features of expressions in semantic supervision via Inter-Frame Interaction Transformer (Inter-FIT) and Multi-Scale Temporal Aggregation (MSTA). Furthermore, though prompt learning is often used in CLIP to enhance semantic supervision, previous studies have only focused on the role of textual prompts, ignoring the importance of visual prompts in facilitating the relationality between the two. Therefore, we designed a Bidirectional Enhanced Prompt (BiEhPro) to facilitate the learning of this relationality between text and visual cues in enhancing semantic supervision. Extensive experiments and ablation studies on three benchmark datasets, i.e., DFEW, FERV39K, and MAFW, validate the effectiveness of our modules and algorithm. Code is publicly available at https://***/JunLiangZ/CLIP-Guided-DFER. © 2024 IEEE.

关键词： Semantics

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