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Robust tube-based MPC with smooth computation for dexterous robot manipulation

science China(information sciences) 2024年第11期67卷 252-268页

作者： Yu LUO Tianying JI Fuchun SUN Qie SIMA Huaping LIU Mingxuan JING Jianwei ZHANG Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Department of Informatics University of Hamburg

Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.

关键词： dexterous robot manipulation model predictive control smooth computation

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Facial Sentiment Analysis Using Convolutional Neural Network and Fuzzy systems

Informatica (Slovenia)

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Informatica (Slovenia) 2024年第12期48卷 15-32页

作者： Kadhim, Ahmed R. Khudeyer, Raidah S. Alabbas, Maytham Department of Computer Information System College of Computer Science and Information Technology University of Basrah Basrah Iraq Department of Computer Science College of Computer Science and Information Technology University of Basrah Basrah Iraq

This study provides a detailed study of a Сonvolutional Neural Network (СNN) model optimized for facial eхpression recognition with Fuzzy logic using Fuzzy2DPooling and Fuzzy Neural Networks (FNN), and discusses data augmentation in model optimization. It highlights important roles. performance. First, the effectiveness of the models in classifying emotions from FER2013, RAB-DB, and СK+ datasets was evaluated by a 5-fold cross-validation method, which showed that the accuracy varied widely among different emotion classes and was affected by overfitting. It turned out to be easy. The integration of data augmentation techniques, including random rotation, translation, and inversion, significantly improved the model's generalization capabilities. This was evidenced by higher accuracy and more consistent loss curves observed across all folds. After augmentation, the model showed significant improvement, achieving average test accuracies of 98.95% on FER2013, 99.99% on RAF-DB, and 100% on СK+ across all folds. Despite these advances, challenges specific to certain classes of emotions remain, highlighting the need for continued model refinement. This study concludes that data augmentation is an important step in developing robust facial eхpression recognition models and has potential benefits for a variety of applications requiring accurate emotion recognition. © 2024 Slovene Society Informatika. All rights reserved.

关键词： Convolutional neural networks

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ChatGPT Tweets Sentiment Analysis Using Machine Learning and Data Classification

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Informatica (Slovenia) 2024年第7期48卷 103-112页

作者： Sabir, Aliea Ali, Huda A. Aljabery, Maalim A. Faculty of Computer Science and Information Technology Computer Information System Dept. University of Basrah Basrah Iraq Faculty of Computer Science and Information Technology Computer Science Dept. University of Basrah Basrah Iraq

Many things, such as goods, products, and websites are evaluated based on user's notes and comments. One popular research project is sentiment analysis, which aims to extract information from notes and comments as a natural language processing (NLP) to understand and express emotions. In this study we analyzed the sentiment of ChatGPT labeled tweet datasets sourced from the Kaggle community using five Machine Learning (ML) algorithms;decision tree, KNN, Naïve Bayes, Logistic Regression, and SVM. We applied three feature extraction techniques: positive/negative frequency, a bag of words (count vector), and TF IDF. For each classification algorithm. The results were assessed using accuracy measures. Our experiments achieved an accuracy of 96.41% with the SVM classifier when using TF- IDF as a feature extraction technique. © 2024 Slovene Society Informatika. All rights reserved.

关键词： Sentiment analysis

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Experimental demonstration of 220-GHz terahertz signals wireless transmission over 4.6 km

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science China(information sciences) 2025年第1期68卷 386-388页

作者： Yi WEI Jianjun YU Mingxu WANG Xiongwei YANG Qiutong ZHANG Jingwen TAN Bing ZHANG Ying WU Yang HAN Peng TIAN Wen ZHOU Kaihui WANG Feng ZHAO State Key Laboratory of ASIC and System Key Laboratory for Information Science of Electromagnetic Waves (MoE)School of Information Science and Technology Fudan University School of Electronic Engineering Xi'an University of Posts and Telecommunications

The advancement of terahertz (THz) communication technology drives the evolution of wireless communication systems,offering novel pathways and technical means for the development of future 6G communication *** wireless communication systems are often constrained by bandwidth limitations of electronic devices in high frequency ***,THz communication technology leverages the characteristics of electromagnetic waves to transcend these limitations,enabling communication athigher frequencies and wider bandwidths.

关键词： wireless terahertz over demonstration experimental signals transmission

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A MIMO Neural Network Integrated with Maximum Likelihood Phase Recovery for Transoceanic Coherent Transmission

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Journal of Lightwave technology 2025年第12期43卷 5536-5544页

作者： Wang, Kaihui Wang, Chen Zheng, Tianqi Long, Jianyu Sang, Bohan Zhou, Wen Yu, Jianjun Fudan University State Key Laboratory of ASIC and System School of Information Science and Technology Shanghai200433 China

We proposed a low-complexity multi-input multi-output neural network integrated with a maximum likelihood phase recovery algorithm (MIMO-NN-BMLPR), which is adopted in long-haul coherent optical communication. Neural network based equalization can effectively overcome the nonlinear distortions induced during long-haul transmission. However, the forward neural network equalizer is difficult to track the phase of coherent optical signals. We integrate an additional maximum likelihood phase recovery layer with the MIMO-NN structure so that the phase noise can be compensated. In this work, 8-channel 100-GBaud dual-polarization (DP) PS-16QAM signals are successfully transmitted over 6400km and satisfy the normalized generalized mutual information (NGMI) threshold at 0.86. The proposed MIMO-NN-BMLPR integrates the low-complexity phase estimation with the NNE to improve the performance. Compared with the traditional DSP structure, the proposal prolongs the distance by 48.84% with a 39.80% complexity reduction. © 1983-2012 IEEE.

关键词： Optical communication

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Design and performance evaluation of a novel ranging signal based on an LEO satellite communication constellation

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Geo-Spatial information science 2023年第1期26卷 107-124页

作者： Jingfang Su Jia Su Qingwu Yi Cailun Wu Weimin Hou School of Information Science and Engineering Hebei University of Science and TechnologyShijiazhuangChina The State Key Laboratory of Satellite Navigation System and Equipment Technology ShijiazhuangChina

Driven by improvements in satellite internet and Low Earth Orbit(LEO)navigation augmenta-tion,the integration of communication and navigation has become increasingly common,and further improving navigation capabilities based on communication constellations has become a significant *** the context of the existing Orthogonal Frequency Division Multiplexing(OFDM)communication systems,this paper proposes a new ranging signal design method based on an LEO satellite communication *** LEO Satellite Communication Constellation Block-type Pilot(LSCC-BPR)signal is superimposed on the com-munication signal in a block-type form and occupies some of the subcarriers of the OFDM signal for transmission,thus ensuring the continuity of the ranging pilot signal in the time and frequency *** estimation in the time and frequency domains is performed to obtain the relevant distance value,and the ranging accuracy and communication resource utilization rate are *** characterize the ranging performance,the Root Mean Square Error(RMSE)is selected as an evaluation *** show that when the number of pilots is 2048 and the Signal-to-Noise Ratio(SNR)is 0 dB,the ranging accuracy can reach 0.8 m,and the pilot occupies only 50%of the communication subcarriers,thus improving the utilization of communication resources and meeting the public demand for communication and location services.

关键词： Integration of communication and navigation LEO communication constellation ranging LEO navigation augmentation satellite internet

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Online Fault-Tolerant Tracking Control With Adaptive Critic for Nonaffine Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 215-227页

作者： Ding Wang Lingzhi Hu Xiaoli Li Junfei Qiao IEEE the School of Information Science and Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protection and Beijing Institute of Artificial Intelligence Beijing University of Technology

In this paper, a fault-tolerant-based online critic learning algorithm is developed to solve the optimal tracking control issue for nonaffine nonlinear systems with actuator ***, a novel augmented plant is constructed by fusing the system state and the reference trajectory, which aims to transform the optimal fault-tolerant tracking control design with actuator faults into the optimal regulation problem of the conventional nonlinear error system. Subsequently, in order to ensure the normal execution of the online learning algorithm, a stability criterion condition is created to obtain an initial admissible tracking policy. Then, the constructed model neural network(NN) is pretrained to recognize the system dynamics and calculate trajectory control. The critic and action NNs are constructed to output the approximate cost function and approximate tracking control,respectively. The Hamilton-Jacobi-Bellman equation of the error system is solved online through the action-critic framework. In theoretical analysis, it is proved that all concerned signals are uniformly ultimately bounded according to the Lyapunov *** tracking control law can approach the optimal tracking control within a finite approximation error. Finally, two experimental examples are conducted to indicate the effectiveness and superiority of the developed fault-tolerant tracking control scheme.

关键词： Adaptive critic control neural network (NN) nonaffine nonlinear systems online fault-tolerant tracking design uniform ultimate boundedness

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Comparison of Geographically Weighted Regression (GWR) and Mixed Geographically Weighted Regression (MGWR) Models on the Poverty Levels in Central Java in 2023

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IAENG International Journal of Applied Mathematics 2024年第12期54卷 2746-2757页

作者： Alya, Najma Attaqiya Almaulidiyah, Qothrotunnidha Farouk, Bailey Reshad Rantini, Dwi Ramadan, Arip Othman, Fazidah Engineering Department Data Science Technology Study Program Universitas Airlangga Indonesia Engineering Department Data Science Technology Study Program Faculty of Advanced Technology and Multi-discipline Universitas Airlangga Indonesia Information System Study Program Department of Industrial and System Engineering Telkom University Surabaya Campus Indonesia Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Malaysia

Poverty is considered a serious global issue that must be immediately eradicated by Sustainable Development Goals (SDGs) 1, namely ending poverty anywhere and in any form. As a developing country, poverty is a complex issue faced by Indonesia. Tackling poverty in Indonesia has become a key focus of the government’s strategic priorities. This issue of poverty is experienced by all provinces in Indonesia, including Central Java. The poverty rate in Central Java stands at 10.77% or 3.79 million people. The causes of poverty are explained by several factors. Using these various factors, a mapping model can be conducted to determine the number of poor populations in Central Java. This research employs Geographically Weighted Regression (GWR) and Mixed Geographically Weighted Regression (MGWR) approaches to compare the effectiveness of these models in analyzing the number of poor populations in Central Java in 2023. The kernel function weighting used in this study is Fixed Gaussian. The results showed that the MGWR model outperformed both the OLS regression and GWR models, achieving an Akaike information Criterion (AIC) of 62.766, an R2 of 82.3%, and a Mean Squared Error (MSE) of 0.177. Consequently, it can be inferred that the MGWR model was more suitable for explaining the poverty levels in Central Java. © (2024), (International Association of Engineers). All Rights Reserved.

关键词： Logistic regression

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Fine-Tuning BERT for Aspect Extraction in Multi-domain ABSA

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Informatica (Slovenia) 2023年第9期47卷 123-131页

作者： Akram, Arwa Sabir, Aliea Faculty of Computer Science and Information Technology Computer Information System Dept. University of Basrah Basrah Iraq

Aspect extraction plays a crucial role in understanding the fine-grained nuances of text data, allowing businesses and researchers to gain deeper insights into customer opinions, sentiment distributions, and preferences. This study presents a BERT-based framework for aspect extraction in ABSA and evaluates its performance. Our research focuses on the comprehensive analysis of aspect extraction as we test our method using the SEMEVAL dataset of various consumer evaluations across diverse domains, including laptops, restaurants, and Twitter. By fine-tuning BERT on a large dataset, we aim to overcome the limitations of traditional approaches and improve the accuracy and efficiency of aspect extraction in ABSA. The experimental findings provide evidence of the efficacy of our methodology with a noteworthy aspect extraction accuracy of 0.98, highlighting its capacity to properly and consistently extract features. The article also explores the applicability of our approach to new domains and its possible applications in real-world scenarios. © 2023 Slovene Society Informatika. All rights reserved.

关键词： Sentiment analysis

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Fractal autoencoder with redundancy regularization for unsupervised feature selection

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science China(information sciences) 2025年第2期68卷 89-102页

作者： Meiting SUN Fangyu LI Honggui HAN School of Information Science and Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education Beijing Institute of Artificial Intelligence

Feature selection is a crucial step in data preprocessing because feature selection reduces the dimensionality of data by eliminating irrelevant and redundant features. Since manual labeling is expensive, unsupervised feature selection has received increasing attention in recent years. However, existing unsupervised feature selection methods tend to prioritize selecting highly correlated features over exploring feature diversity. Thus, a regularized fractal autoencoder(RFAE) method is proposed to select informative features in an unsupervised way. Specifically, the fractal autoencoder network extends autoencoders to construct a correspondence neural network and a selection neural network. The correspondence neural network exploits interfeature correlations and the selection neural network selects the informative features. A redundancy regularization strategy consists of a redundancy elimination regularization term based on the dependency between features and a sparse regularization term based on the group lasso. The redundancy regularization strategy eliminates feature subset redundancy and enhances network generalization ability. Extensive experimental results on six publicly available datasets show that the proposed RFAE outperforms the compared methods regarding clustering accuracy and classification accuracy. Moreover, the proposed RFAE achieves acceptable computation efficiency.

关键词： unsupervised feature selection fractal autoencoder correspondence neural network selection neural network redundancy regularization strategy

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