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A population randomization-based multi-objective genetic algorithm for gesture adaptation in human-robot interaction

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Science China(Information Sciences) 2021年第1期64卷 188-200页

作者： Luefeng CHEN Wanjuan SU Min LI Min WU Witold PEDRYCZ Kaoru HIROTA School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

In recent years, vision-based gesture adaptation has attracted great attention from many experts in the field of human-robot interaction, and many methods have been proposed and successfully applied, such as particle swarm optimization and genetic algorithm. However, the reduction of the error and energy consumption of a robot while paying attention to more subtle attitude changes is very important and *** view of these problems, we propose a population randomization-based multi-objective genetic *** gesture signal is processed with a slight change by imitating the biological evolution mechanisms. In the proposed algorithm, a random out-of-order matrix is added in the process of population evolution synthesis to prevent the premature grouping convergence of the new population. The weights of the objective function and the elite retention strategy are adopted, and the most adaptable individuals in each generation are inherited directly in the next generation without any recombination or mutation. To verify the effectiveness of the algorithm, preliminary application experiments are performed on the gesture adaptation of a robotic arm. The results are compared with the original signal, and the comparison shows that by using the proposed method, the energy consumption is reduced, and the end error is decreased to less than 3 mm while ensuring the tracking effect of the robotic arm. These obtained results meet the communication requirements for human-robot interactions such as handshakes. Moreover, the proposed method has better performance, uses less energy, and has a smaller tracking error than the particle swarm optimization, the single-objective genetic algorithm, and the traditional multi-objective genetic algorithm. A preliminary application experiment indicates that the robotic arm can adapt to human gestures in real time.

关键词： multi-objective genetic algorithm gesture adaptation human-robot interaction

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EVADE: Targeted Adversarial False Data Injection Attacks for State Estimation in Smart Grid

IEEE Transactions on Sustainable Computing

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IEEE Transactions on Sustainable Computing 2025年第3期10卷 534-546页

作者： Tian, Jiwei Shen, Chao Wang, Buhong Ren, Chao Xia, Xiaofang Dong, Runze Cheng, Tianhao Xi’an Jiaotong University Ministry of Education Key Laboratory for Intelligent Networks and Network Security School of Cyber Science and Engineering Xi’an710049 China Air Force Engineering University Air Traffic Control and Navigation College Xi’an710051 China Air Force Engineering University Information and Navigation College Xi’an710043 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Xidian University School of Computer Science and Technology Xi’an710126 China

Although conventional false data injection attacks can circumvent the detection of bad data detection (BDD) in sustainable power grid cyber physical systems, they are easily detected by well-trained deep learning-based detectors. Still, state estimation models with deep leaning-based detectors are not secure due to the vulnerabilities and fragility of deep learning models. Using the related laws of conventional false data injection attacks and adversarial sample attacks, this paper proposes the targEted adVersarial fAlse Data injEction (EVADE) strategy to explore targeted adversarial false data injection attacks for state estimation in Smart Grid. The proposed EVADE attack strategy selects key state variables based on adversarial saliency maps to improve the attack efficiency and perturbs as few state variables as possible to reduce the attack cost. In this way, the EVADE attack strategy can bypass the detection of BDD and neural attack detection (NAD) methods (that is, maintaining deep stealthy) with a high success rate and achieve the attack target simultaneously. Experimental results demonstrate the effectiveness of the proposed strategy, posing serious and pressing concerns for sustainable cyber physical power system security. © 2016 IEEE.

关键词： Cyber attacks

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6D Movable Antenna Enhanced Interference Mitigation for Cellular-Connected UAV Communications

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IEEE Wireless Communications Letters 2025年第6期14卷 1618-1622页

作者： Ren, Tianshi Zhang, Xianchao Zhu, Lipeng Ma, Wenyan Gao, Xiaozheng Zhang, Rui The School of Information and Electronics Beijing Institute of Technology Beijing100081 China The Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore The Provincial Key Laboratory of Multimodal Perceiving and Intelligent Systems China The Engineering Research Center of Intelligent Human Health Situation Awareness of Zhejiang Province Jiaxing University Jiaxing314001 China School of Science and Engineering Shenzhen Research Institute of Big Data The Chinese University of HongKong Guangdong Shenzhen518172 China

Cellular-connected unmanned aerial vehicle (UAV) communications is an enabling technology to transmit control signaling or payload data for UAVs through cellular networks. Due to the line-of-sight dominant air-to-ground channels, efficient interference mitigation is crucial to UAV communications, while the conventional fixed-position antenna (FPA) arrays have limited degrees of freedom to suppress the interference between the UAV and its non-associated co-channel base stations (BSs). To address this challenge, we propose in this letter a new approach by utilizing the six-dimensional movable antenna (6DMA) arrays to enhance the interference mitigation for the UAV. Specifically, we propose an efficient block coordinate descent algorithm to iteratively optimize the antenna position vector, array rotation vector, receive beamforming vector, and associated BS of the UAV to maximize its signal-to-interference-plus-noise ratio. Numerical results show that the proposed 6DMA enhanced cellular-connected UAV communication can significantly outperform that with the traditional FPA arrays and other benchmark schemes in terms of interference mitigation. © 2025 IEEE. All rights reserved.

关键词： Aircraft communication

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Distributed Nash equilibrium for pursuit-evasion game with one evader and multiple pursuers

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Science China(Information Sciences) 2025年

作者： Libing WANG Zhixin LIU Shuo YUAN Zhiqiang PU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Wayne State University Institute of Automation Chinese Academy of Sciences

This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.

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Automation 5.0: The Key to systems Intelligence and Industry 5.0

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical Engineering-Systems University of Southern CaliforniaLos AngelesCA 90007 USA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of Engineering University of CambridgeCB21TN CambridgeU.K. School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence Institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

AUTOMATION has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“Automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： Automation machinery intelligence

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Polarization-induced photocurrent switching effect in heterojunction photodiodes

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Nano Research 2023年第4期16卷 5503-5510页

作者： Dingbo Chen Yu-Chang Chen Guang Zeng Yu-Chun Li Xiao-Xi Li Dong Li Chao Shen Nan Chi Boon S.Ooi David Wei Zhang Hong-Liang Lu State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai 200433China Key Laboratory for Information Science of Electromagnetic Waves Department of Communication Science and EngineeringFudan UniversityShanghai 200433China Photonics Laboratory Division of ComputerElectricaland Mathematical Sciences and EngineeringKing Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Kingdom of Saudi Arabia

The unipolar photocurrent in conventional photodiodes(PDs)based on photovoltaic effect limits the output modes and potential versatility of these devices in *** photodiodes with photocurrent switching are emerging as a promising solution for obtaining photoelectric devices with unique and attractive functions,such as optical logic ***,we design an all-solid-state chip-scale ultraviolet(UV)PD based on a hybrid GaN heterojunction with engineered bipolar polarized electric *** introducing the polarization-induced photocurrent switching effect,the photocurrent direction can be switched in response to the wavelength of incident light at 0 V *** particular,the photocurrent direction exhibits negative when the irradiation wavelength is less than 315 nm,but positive when the wavelength is longer than 315 *** device shows a responsivity of up to−6.7 mA/W at 300 nm and 5.3 mA/W at 340 nm,*** particular,three special logic gates in response to different dual UV light inputs are demonstrated via a single bipolar PD,which may be beneficial for future multifunctional UV photonic integrated devices and systems.

关键词： GaN heterostructure ultraviolet(UV)photodiodes bipolar photocurrent optical logic device

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The ChatGPT After: Building Knowledge Factories for Knowledge Workers with Knowledge Automation

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IEEE/CAA Journal of Automatica Sinica 2023年第11期10卷 2041-2044页

作者： Yutong Wang Xiao Wang Xingxia Wang Jing Yang Oliver Kwan Lingxi Li Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence Anhui UniversityHefei 230039China Motion G Inc068898Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndiana 46202-5132 USA IEEE

Briefing: This perspective introduces the concept and framework of knowledge factories with knowledge machines for knowledge workers to achieve knowledge automation for Industry 5.0 and intelligent *** The big hit of Chat GPT makes it imperative to contemplate the practical applications of big or foundation models [1]-[5]. However, as compared to conventional models, there is now an increasingly urgent need for foundation intelligence of foundation models for real-world industrial applications.

关键词： Automation template Chat GPT

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Wind Power Prediction Based on Multi-class Autoregressive Moving Average Model with Logistic Function

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Journal of Modern Power systems and Clean Energy 2022年第5期10卷 1184-1193页

作者： Yunxuan Dong Shaodan Ma Hongcai Zhang Guanghua Yang IEEE State Key Laboratory of Internet of Things for Smart City and the Department of Electrical and Computer Engineering University of MacaoMacao S.A.R.999078China Institute of Physical Internet and the School of Intelligent Systems Scienceand Engineering Jinan UniversityZhuhai 519070China

The seasonality and randomness of wind present a significant challenge to the operation of modern power systems with high penetration of wind generation. An effective shortterm wind power prediction model is indispensable to address this challenge. In this paper, we propose a combined model, i.e.,a wind power prediction model based on multi-class autoregressive moving average(ARMA). It has a two-layer structure: the first layer classifies the wind power data into multiple classes with the logistic function based classification method;the second layer trains the prediction algorithm in each class. This two-layer structure helps effectively tackle the seasonality and randomness of wind power while at the same time maintaining high training efficiency with moderate model parameters. We interpret the training of the proposed model as a solvable optimization problem. We then adopt an iterative algorithm with a semi-closed-form solution to efficiently solve it. Data samples from open-source projects demonstrate the effectiveness of the proposed model. Through a series of comparisons with other state-of-the-art models, the experimental results confirm that the proposed model improves not only the prediction accuracy,but also the parameter estimation efficiency.

关键词： Wind power prediction wind generation time series analysis logistic function based classification

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Improving Motor Imagery Classification in BCI systems Using EMD and Multi-Layer CNNs 14

Improving Motor Imagery Classification in BCI Systems Using ...

引用

14th International Conference on computer and Knowledge engineering, ICCKE 2024

作者： Arghand, Reza Chaibakhsh, Ali Radman, Moein University of Guilan Intelligent Systems and Advanced Control Lab Faculty of Mechanical Engineering Rasht Guilan41996-13776 Iran University of Essex Brain-Computer Interfacing and Neural Engineering Laboratory School of Computer Science and Electronic Engineering ColchesterCO4 3SQ United Kingdom

ISBN: (纸本)9798331511272

Brain-computer Interface (BCI) systems are relatively new technologies that could play a significant role in aiding the recovery of impaired activities resulting from neuromuscular disabilities in affected individuals. Accurate recognition and classification of motor imagery in BCI systems present a challenge, leading to extensive research in recent years aimed at improving the accuracy of these systems. In this study, a combination of the Empirical Mode Decomposition (EMD) method and a multi-layer Convolutional Neural Network (CNN) is employed. Initially, the signal is decomposed into Intrinsic Mode Functions (IMFs) using EMD, and all IMFs across all trials are analyzed to select the best ones, which are then fed into the CNN as inputs. Additionally, the study incorporates the fusion of three CNN networks, each corresponding to a different IMF. The features extracted from these networks are combined and used to train an SVM classifier. The proposed method achieved an accuracy of 86.1% on the BCI-2a 2008 dataset, outperforming other state-of-the-art approaches. ©2024 IEEE.

关键词： Brain computer interface

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Learning Probabilistic Coordinate Fields for Robust Correspondences

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2023年第10期45卷 12004-12021页

作者： Zhao, Weiyue Lu, Hao Ye, Xinyi Cao, Zhiguo Li, Xin Huazhong University of Science and Technology The Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Wuhan430074 China West Virginia University The Lane Department of Computer Science and Electrical Engineering MorgantownWV26506-6109 United States

We introduce Probabilistic Coordinate Fields (PCFs), a novel geometric-invariant coordinate representation for image correspondence problems. In contrast to standard Cartesian coordinates, PCFs encode coordinates in correspondence-specific barycentric coordinate systems (BCS) with affine invariance. To know when and where to trust the encoded coordinates, we implement PCFs in a probabilistic network termed PCF-Net, which parameterizes the distribution of coordinate fields as Gaussian mixture models. By jointly optimizing coordinate fields and their confidence conditioned on dense flows, PCF-Net can work with various feature descriptors when quantifying the reliability of PCFs by confidence maps. An interesting observation of this work is that the learned confidence map converges to geometrically coherent and semantically consistent regions, which facilitates robust coordinate representation. By delivering the confident coordinates to keypoint/feature descriptors, we show that PCF-Net can be used as a plug-in to existing correspondence-dependent approaches. Extensive experiments on both indoor and outdoor datasets suggest that accurate geometric invariant coordinates help to achieve the state of the art in several correspondence problems, such as sparse feature matching, dense image registration, camera pose estimation, and consistency filtering. Further, the interpretable confidence map predicted by PCF-Net can also be leveraged to other novel applications from texture transfer to multi-homography classification. © 1979-2012 IEEE.

关键词： Image registration

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