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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Akash Guna R T Raul Benitez Sikha O K Department of Computer Science and Engineering Amrita School of Engineering Coimbatore India Departament of Automatic Control Universitat Politècnica de Catalunya-BarcelonaTech Spain

Existing explainability approaches for convolutional neural networks (CNNs) are mainly applied after training (post-hoc) which is generally unreliable. Ante-hoc explainers trained simultaneously with the CNN are more reliable. However, current ante-hoc explanation methods mainly generate inexplicit concept-based explanations tailored to specific tasks. To address these limitations, we propose a task-agnostic ante-hoc framework that can generate interpretation maps to visually explain any CNN. Our framework simultaneously trains the CNN and a weighting network - an explanation generation module. The generated maps are self-explanatory, eliminating the need for manual identification of concepts. We demonstrate that our method can interpret classification, facial landmark detection, and image captioning tasks. We show that our framework is explicit, faithful, and stable through experiments. To the best of our knowledge, this is the first ante-hoc CNN explanation strategy that produces visual explanations generic to CNNs for different tasks.

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Research and design of control system for a tracked SAR robot under coal mine

Research and design of control system for a tracked SAR robo...

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IEEE International Conference on Automation and Logistics

作者： Yibin Li Caihong Li Ping Chen School of Control Science and Engineering Shandong University Jinan Shandong China School of Computer Science and Technology Shandong University of Technology Zibo Shandong China

ISBN: (纸本)9781424447947

A search and rescue (SAR) robot, named LUKER-I, is introduced to replace people to access to the accident scene when the underground gas and dust explosion happen under coal mine. The body of robot LUKER-I adopts tracked differential driven means, and has a fin arm tracked institutions. Robot can cross the barriers such as stairs, ditches, steep slopes and convex units based on different swing angle assistant. The control system uses two layers architecture, namely the bottom control network and IPC. IPC is mainly in charge of data acquisition, compression, and transmission of the voice and images of the scene. While the bottom layer uses CAN bus network to achieve the maintainability, expanded performance, and real-time control based on modular and distributed control. The working principle and design means of the robot are described detail in the paper. A modular method is used to carry out a detailed design.

关键词： control systems Mobile robots Layout Robot sensing systems Robotics and automation Accidents Explosions Data acquisition Image coding Distributed control

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Power Management by Brain Emotional Learning Algorithm

Power Management by Brain Emotional Learning Algorithm

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2007 7th International Conference on ASIC Electronic Version(ASICON 2007)

作者： Mehrzad Samadi Ali Afzali-Kusha Caro Lucas Nanoelectronics Center of Exellence School of Electrical and Computer Engineering University of Tehran TehranIran Control and Intelligent Processing Center of Excellence Department of Electrical and Computer Engineering University of Tehran TehranIran

Nowadays having the most energy efficiency is desirable in its own right from both economical and environmental points of *** power management is a system level solution for reducing the consumed energy with putting off unused parts of the system and putting them on in an efficient *** Emotional Learning Algorithm has been introduced to show the effect of emotions as well known stimuli in the quick and almost satisfying decision making in *** remarkable properties of emotional learning,low computational complexity and fast training,and its simplicity in multi objective problems has made it a powerful methodology in real time control and decision systems,where the gradient based methods and evolutionary algorithms are hard to be used due to their high computational *** the emotional approach has been successfully used to obtain multiple objectives in prediction problems of real world *** first we introduce methods of dynamic power management and then a new method based on BELBIC would be *** simulation results show that this method has a high efficiency in various systems.

关键词： Power Management by Brain Emotional Learning Algorithm

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Reference wave generation in dynamic voltage restorers by use of PQR power theory

Reference wave generation in dynamic voltage restorers by us...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Hyosung Kim Sang-Joon Lee Seung-Ki Sul Department of Control Engineering Cheonan National Technical College South Korea School of Electrical Engineering and Computer Science Seoul National University South Korea

Dynamic voltage restorer (DVR)s are known as effective and economic means to compensate for voltage sags and swells. This paper proposes a novel method to generate reference waves synchronized with the grid whether or not the line voltages are distorted by a fault. The proposed reference wave generator (RWG) looks for the normal voltage waveforms in the grid from the corrupted line voltages and synthesizes the expected positive sequence reference waves for DVRs. There is no transient problem on the generated reference waves when the line voltages are distorted by faults. Experimental results verified the proposed theory very well.

关键词： Power generation Circuit faults Phase locked loops Power quality Mesh generation Dynamic voltage scaling Power generation economics Surges control systems Frequency

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Underactuated virtual passive dynamic walking with an upper body

Underactuated virtual passive dynamic walking with an upper ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Fumihiko Asano Zhi-Wei Luo Bio-Mimetic Control Research Center RIKEN Nagoya Japan Department of Computer Science and Systems Engineering Graduate School of Engineering Kobe University Japan

Achieving energy-efficient dynamic walking has become one of the main subjects of research on robotic bipedal locomotion. Approaches based on passive-dynamic walkers can accomplish bipedal locomotion. However, passive dynamic walking has only been studied with the legs, and the effect of an upper body has not been clarified. This paper investigates the effect of an upper body on the efficiency and stability of dynamic bipedal locomotion based on observations. We first investigated a suitable upper body, which was a simple 1-link torso with a bisecting hip mechanism that would not destroy natural dynamics of the biped model. Second, we analyzed the robot's driving mechanism and chose underactuated virtual passive dynamic walking as the method for generating an efficient dynamic gait. We confirmed that efficient dynamic walking was possible with a specific resistance of 0.01 and investigated the effect of the physical parameters of the upper body through numerical simulations.

关键词： Legged locomotion Torso Leg Hip Energy efficiency Robotics and automation Immune system Numerical simulation PD control Prototypes

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Mtd-Yolov5:Improved Yolov5 Based Multi-Scale Feature Fusion Enhancement Strategy for Marine Target Detection

SSRN

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SSRN 2023年

作者： Wei, Lian-Suo Huang, Shen-Hao Ma, Long-Yu School of Information Engineering Suqian University jiangsu Suqian223800 China College of Computer & Control Engineering Qiqihar University Heilongjiang Qiqihar161006 China

The complex ocean environment leads to low contrast in underwater images and poor target visibility. In addition, the detected objects have multi-scale properties and clustering issues, making marine object detection a challenging task. In this paper, we propose MTD-YOLOv5, an object detection model that leverages a multi-scale feature fusion augmentation strategy to enhance detection performance. First, we enhance the image by applying gray equalization and color space transformation. Then, we design a novel feature extraction module named PCBR, which combines max-pooling and convolution layers to better distinguish objects from backgrounds. Furthermore, we propose a multi-scale receptive field hybrid pooling (MHP) module, which combines horizontal and vertical receptive fields to build long-range dependencies, thereby capturing hidden target information present in high-level contexts. The experimental results show that the accuracy of MTD-YOLOv5 proposed in this paper is 2.6% higher than that of the original YOLOv5. © 2023, The Authors. All rights reserved.

关键词： Object detection

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Design and analysis of a new parallel grasper having spherical motion

Design and analysis of a new parallel grasper having spheric...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Byung-Joon Park Byung-Ju Yi Whee-Kuk Kim School of Electrical Engineering and Computer Science Hanyang University Ansan South Korea Department of Control and Instrumentation Engineering Korea University Chungnam South Korea

A new parallel grasper mechanism having 3-DOF spherical motions is proposed. The mechanism consists of one parallel four-bar chain and four serial sub-chains that are connected in parallel to the four-bar chain. Particularly, all joint axes of the mechanism are placed to have a common intersection point securing that all joint motion spaces of the mechanism are confined within the 3-DOF spherical motion spaces. Thus, the mechanism can not only grasp irregular shaped objects by changing configuration of its four-bar chain, but also exhibit 3 DOF spherical motions after grasping. The position analysis and kinematic analysis of the mechanism are performed. Also, its kinematic characteristics are investigated through simulation in aspects of three kinematic design indices. Lastly, a prototype was developed and tested through motion tracking and grasping experiments.

关键词： Motion analysis Kinematics Grippers Parallel robots Manipulators Shoulder computer science Performance analysis Prototypes Testing

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Sora for foundation robots with parallel intelligence:three world models,three robotic systems

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Frontiers of Information Technology & Electronic engineering 2024年第7期25卷 917-923页

作者： Lili FAN Chao GUO Yonglin TIAN Hui ZHANG Jun ZHANG Fei-Yue WANG School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing 100044China School of Electrical Engineering Wuhan UniversityWuhan 430072China

This paper outlines the initial steps and basic framework for developing foundation/infrastructure robots/robotics based on foundation models and parallel intelligence,as well as the potential applications of new art... 详细信息

关键词： artificial foundation intelligence

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A novel control method for the compensation voltages in dynamic voltage restorers

A novel control method for the compensation voltages in dyna...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Sang-Joon Lee Hyosung Kim Seung-Ki Sul School of Electrical Engineering and Computer Science Seoul National University South Korea Department of Control Engineering Cheonan National Technical College South Korea

This paper discusses the control of the compensation voltages in dynamic voltage restorers (DVR). On analyzing the power circuit of a DVR system, control limitations and control targets are presented for the compensation voltage control. Based on the preceded power stage analysis, a novel controller for the compensation voltages in DVRs is proposed by a feedforward control scheme. This paper also discusses the time delay problems in the control system of DVRs. Digital control systems inevitably have control delay due to its the sampling of signal, the switching frequency of an inverter, and the signal delay due to sensor itself. The total signal delay is considerable in real implementation and it endanger the system stability. This paper analyzes the relationship among the control delay, closed loop damping factor, and the output filter parameters of DVR inverters. Based on the control system analysis, a guideline is proposed to design the appropriate output filter parameters and the inverter switching frequency for DVRs. The proposed theory is verified by an experimental DVR system, which is controlled in full digital manner.

关键词： Voltage control control systems Inverters Power system restoration Digital control Switching frequency Filters Circuit analysis Delay effects Sampling methods

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Resilient Exponential Consensus with Time-Varying Adversary Attacks and Asynchronous Events

Resilient Exponential Consensus with Time-Varying Adversary ...

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IEEE Annual Conference on Decision and control

作者： Weiguo Xia Ji Liu Shuang Li Xi-Ming Sun Min Han Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and the School of Control Science and Engineering Dalian University of Technology China Department of Electrical and Computer Engineering Stony Brook University USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

This paper studies the resilient consensus problem with time-varying adversary attacks and asynchronous events. In the synchronous or asynchronous update case, all the nodes or only a fraction of nodes update their states at each time step, respectively. For the synchronous update case, the nodes under attack are time-varying but do not change after some finite time;for the asynchronous update case, the nodes under attack are time-invariant. For both cases, a resilient consensus can be reached exponentially fast under a network topology condition inspired by the notion of the scrambling matrix and an explicit expression for the convergence rate is provided. Numerical examples are given to validate the theoretical results and to compare the performance with an existing algorithm.

关键词： Optimization Convergence Heuristic algorithms Distributed algorithms Sun Network topology Estimation

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