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arXiv 2024年

作者： Xie, Yuting Guo, Xianda Wang, Cong Liu, Kunhua Chen, Long School of Computer Science and Engineering Sun Yat-Sen University China School of Computer Science Wuhan University China State Key Laboratory for Management and Control of Complex Systems The Institute of Automation Chinese Academy of Sciences China School of Mechanical and Automotive Engineering Qingdao University of Technology China

Safety-critical scenarios are infrequent in natural driving environments but hold significant importance for the training and testing of autonomous driving systems. The prevailing approach involves generating safety-critical scenarios automatically in simulation by introducing adversarial adjustments to natural environments. These adjustments are often tailored to specific tested systems, thereby disregarding their transferability across different systems. In this paper, we propose AdvDiffuser, an adversarial framework for generating safety-critical driving scenarios through guided diffusion. By incorporating a diffusion model to capture plausible collective behaviors of background vehicles and a lightweight guide model to effectively handle adversarial scenarios, AdvDiffuser facilitates transferability. Experimental results on the nuScenes dataset demonstrate that AdvDiffuser, trained on offline driving logs, can be applied to various tested systems with minimal warm-up episode data and outperform other existing methods in terms of realism, diversity, and adversarial performance. © 2024, CC BY.

关键词： Automatic guided vehicles

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Marine Autonomous Navigation for Biomimetic Underwater Robots Based on Deep Stereo Attention Network

Marine Autonomous Navigation for Biomimetic Underwater Robot...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yan, Shuaizheng Wu, Zhengxing Wang, Jian Tan, Min Yu, Junzhi Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Peking Univ Coll Engn State Key Lab Turbulence & Complex Syst Dept Mech & Engn SciBIC ESAT Beijing 100871 Peoples R China

ISBN: (纸本)9781665417143

This paper proposes a multi-objective vision-based navigation network for biomimetic underwater robots to cope with scientific observation, target selection, and obstacle avoidance in marine missions. Structurally, a stereo block attention module is first constructed to serially extract the channel and spatial attention portion of the real-time visual feedback. Next, the parallax attention mechanism is introduced to enable the network to excavate implicit parallax information in stereo pairs, effectively eliminating the oscillation of the network output in the presence of ambiguous visual input. Further, with the assistance of other low-cost sensors, the proposed navigation network can be expanded in some large-scale application scenarios, such as sparse coral observation. Finally, underwater simulations reveal that the proposed method obtains significantly improved control effect and real-time ability, compared with other related works. In particular, based on a self-developed biomimetic robotic dolphin, collision-free simulations with a cumulative distance beyond 1000 m were carried out and validated the effectiveness and the superiority of the navigation network, where both dense and sparse targets were fully tested. The robotic dolphin can not only successfully conduct accurate coral observation without collision, but also quest the observation targets as much as possible in the area where the observation targets are concentrated. The proposed network provides an intelligent and efficient navigation scheme for autonomous underwater operation of small-size underwater robots.

关键词： Autonomous underwater vehicles Visualization Navigation Biological system modeling Real-time systems Sensors Collision avoidance

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Deep learning radiomics of ultrasonography can predict response to neoadjuvant chemotherapy in breast cancer at an early stage of treatment: a prospective study

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EUROPEAN RADIOLOGY 2022年第3期32卷 2099-2109页

作者： Gu, Jionghui Tong, Tong He, Chang Xu, Min Yang, Xin Tian, Jie Jiang, Tianan Wang, Kun Zhejiang Univ Coll Med Affiliated Hosp 1 Dept Ultrasound Hangzhou 310003 Zhejiang Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst CAS Key Lab Mol Imaging Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Beihang Univ Sch Med & Engn Beijing Adv Innovat Ctr Big Data Based Precis Med Beijing 100191 Peoples R China Zhejiang Prov Key Lab Pulsed Elect Field Technol Hangzhou Zhejiang Peoples R China

Objectives Breast cancer (BC) is the most common cancer in women worldwide, and neoadjuvant chemotherapy (NAC) is considered the standard of treatment for most patients with BC. However, response rates to NAC vary among patients, which leads to delays in appropriate treatment and affects the prognosis for patients who ineffectively respond to NAC. This study aimed to investigate the feasibility of deep learning radiomics (DLR) in the prediction of NAC response at an early stage. Methods In total, 168 patients with clinicopathologically confirmed BC were enrolled in this prospective study, from March 2016 to December 2020. All patients completed NAC treatment and underwent ultrasonography (US) at three time points (before NAC, after the second course, and after the fourth course). We developed two DLR models, DLR-2 and DLR-4, for predicting responses after the second and fourth courses of NAC. Furthermore, a novel deep learning radiomics pipeline (DLRP) was proposed for stepwise prediction of response at different time points of NAC administration. Results In the validation cohort, DLR-2 achieved an AUC of 0.812 (95% CI: 0.770-0.851) with an NPV of 83.3% (95% CI: 76.5-89.6). DLR-4 achieved an AUC of 0.937 (95% CI: 0.913-0.955) with a specificity of 90.5% (95% CI: 86.3-94.2). Moreover, 19 of 21 non-response patients were successfully identified by DLRP, suggesting that they could benefit from treatment strategy adjustment at an early stage of NAC. Conclusions The proposed DLRP strategy holds promise for effectively predicting NAC response at its early stage for BC patients. key Points We proposed two novel deep learning radiomics (DLR) models to predict response to neoadjuvant chemotherapy (NAC) in breast cancer (BC) patients based on US images at different NAC time points. Combining two DLR models, a deep learning radiomics pipeline (DLRP) was proposed for stepwise prediction of response to NAC. The DLRP may provide BC patients and physicians with an effective and fe

关键词： Breast cancer Deep learning Neoadjuvant chemotherapy Ultrasonography Treatment outcome

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Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

SSRN

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SSRN 2022年

作者： He, Yanbing Dong, Xiang Wang, Yu Wang, Shuo Cheng, Long School of Electrical Engineering and Automation Anhui University Hefei230601 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

This paper addresses the problem of path following and dynamic obstacle avoidance for underwater biomimetic vehicle-manipulator system (UBVMS). Firstly, the general kinematics and dynamics models of underwater vehicles are presented;then a nonlinear model predictive control (NMPC) scheme is employed to track a reference path and collision avoidance simultaneously. Moreover, to minimize the tracking error and a higher degree of robustness, improved extended state observers are used to estimate model uncertainties and disturbances to be fed into the NMPC prediction model. On top of this, the proposed method also considers the uncertainty of the state estimator, while combining a priori estimation of the Kalman filter to reasonably predict the position of dynamic obstacles during short periods. Finally, simulations and experimental results are carried out to assess the validity of the proposed method in case of disturbances and constraints. © 2022, The Authors. All rights reserved.

关键词： Vehicles

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Switching Event-Triggered Adaptive Resilient Dynamic Surface control for Stochastic Nonlinear CPSs With Unknown Deception Attacks

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第10期53卷 6562-6570页

作者： Niu, Ben Chen, Wendi Su, Wei Wang, Huanqing Wang, Ding Zhao, Xudong Shandong Normal Univ Sch Informat Sci & Engn Jinan 250014 Shandong Peoples R China Tianjin Univ Sch Elect Automat & Informat Engn Tianjin 300072 Peoples R China Bohai Univ Sch Math Sci Jinzhou 121000 Peoples R China Beijing Univ Technol Fac Informat Technol Beijing 100124 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Dalian Univ Technol Fac Elect Informat & Elect Engn Dalian 116023 Peoples R China

This work concentrates on the adaptive resilient dynamic surface controller design problem for uncertain nonlinear lower triangular stochastic cyber-physical systems (CPSs) subject to unknown deception attacks based on a switching threshold event-triggered mechanism. The adverse effect of deception attacks on the stochastic CPSs is that the exact system state variables become unavailable. Furthermore, it should be emphasized that the coexistence of unknown nonlinearities, stochastic perturbations, and unknown sensor and actuator attacks makes it a very difficult and challenging event to implement the control design. To get the desired controller, radial basis function (RBF) neural networks (NNs) are introduced so that the design obstacle caused from the unknown nonlinearities can be easily solved. On this basis, in order to save resources and effectively transmit, the event-triggered control scheme based on a switching threshold strategy is further considered. In the backstepping design process, the dynamic surface control (DSC) technique is presented to deal with the issue of "explosion of complexity." By skillfully designing a new coordinate transformation and the attack compensators, the problem of unknown deception attacks is successfully handled. Under our proposed control scheme, all the closed-loop signals are bounded in probability and the stabilization errors converge to an adjustable neighborhood of the origin in probability. Finally, the simulation results on the double chemical reactor show the validity of the proposed design scheme.

关键词： Switches Stochastic processes Security Heuristic algorithms Actuators Nonlinear systems control design Dynamic surface control (DSC) stochastic nonlinear cyber-physical systems (CPSs) switching threshold event-triggered control unknown deception attacks

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Discretizing Continuous Action Space with Unimodal Probability Distributions for On-Policy Reinforcement Learning

arXiv

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arXiv 2024年

作者： Zhu, Yuanyang Wang, Zhi Zhu, Yuanheng Chen, Chunlin Zhao, Dongbin The Department of Control Science and Intelligent Engineering School of Management and Engineering Nanjing University Nanjing210093 China The Research Center for Novel Technology of Intelligent Equipment Nanjing University Nanjing210093 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

For on-policy reinforcement learning, discretizing action space for continuous control can easily express multiple modes and is straightforward to optimize. However, without considering the inherent ordering between the discrete atomic actions, the explosion in the number of discrete actions can possess undesired properties and induce a higher variance for the policy gradient estimator. In this paper, we introduce a straightforward architecture that addresses this issue by constraining the discrete policy to be unimodal using Poisson probability distributions. This unimodal architecture can better leverage the continuity in the underlying continuous action space using explicit unimodal probability distributions. We conduct extensive experiments to show that the discrete policy with the unimodal probability distribution provides significantly faster convergence and higher performance for on-policy reinforcement learning algorithms in challenging control tasks, especially in highly complex tasks such as Humanoid. We provide theoretical analysis on the variance of the policy gradient estimator, which suggests that our attentively designed unimodal discrete policy can retain a lower variance and yield a stable learning process. © 2024, CC BY.

关键词： Contrastive Learning

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Decentralized robust optimal control for modular robot manipulators via critic-identifier structure-based adaptive dynamic programming

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NEURAL COMPUTING & APPLICATIONS 2020年第8期32卷 3441-3458页

作者： Dong, Bo Zhou, Fan Liu, Keping Li, Yuanchun Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This paper presents a decentralized robust optimal control method for modular robot manipulators (MRMs) via a critic-identifier structure-based adaptive dynamic programming (ADP) scheme. The robust control problem of MRMs is transformed into an optimal compensation control issue, which consists of model-based compensation control, identifier-based learning control and ADP-based optimal control. The dynamic model of MRMs is deployed for each joint module where the local dynamic information is utilized to design the model compensation controller. A neural network (NN) identifier is established to approximate the interconnected dynamic coupling. Based on ADP and local online policy iteration algorithm, the Hamiltonian-Jacobi-Bellman equation is solved by constructing a critic NN, and then the approximate optimal control policy derivation is possible. The closed-loop robotic system is asymptotic stable by the implementation of a set of developed decentralized control policies. Simulations are presented to demonstrate the effectiveness of the proposed method.

关键词： Modular robot manipulator Decentralized control Adaptive dynamic programming Optimal control Neural network Interconnected dynamic coupling

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Explanation guided cross-modal social image clustering

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INFORMATION SCIENCES 2022年 593卷 1-16页

作者： Yan, Xiaoqiang Mao, Yiqiao Ye, Yangdong Yu, Hui Wang, Fei-Yue Zhengzhou Univ Sch Informat Engn Zhengzhou 450052 Peoples R China Univ Portsmouth Sch Creat Technol Portsmouth PO1 2DJ Hants England Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Taipa 999078 Macao Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China

The integration of visual and semantic information has been found to play a role in increasing the accuracy of social image clustering methods. However, existing approaches are limited by the heterogeneity gap between the visual and semantic modalities, and their performances significantly degrade due to the commonly sparse and incomplete tags in semantic modality. To address these problems, we propose a novel clustering framework to discover reasonable categories in unlabeled social images under the guidance of human explanations. First of all, a novel Explanation Generation Model (EGM) is proposed to automatically boost textual information for the sparse and incomplete tags based on an extra lexical database with human knowledge. Then, a novel clustering algorithm called Group Constrained Information Maximization (GCIM) is proposed to learn image categories. In this algorithm, a new type of constraint named group level side information is unprecedentedly defined to bridge the well-known heterogeneity gap between visual and textual modalities. Finally, an interactive draw-and-merge optimization method is proposed to ensure an optimal solution. Extensive experiments on several social image datasets including NUS-Wide, IAPRTC, MIRFlickr, ESP-Game and COCO demonstrate the superiority of the proposed approach to state-of-the-art baselines. (c) 2022 Elsevier Inc. All rights reserved.

关键词： Social image clustering Human explanation Side information Information maximization Interactive optimization

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Research Progress of Parallel control and management

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 355-367页

作者： Gang Xiong Xisong Dong Hao Lu Dayong Shen State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer Science and Technology Beijing Institute of TechnologyBeijing 100081China College of Systems Engineering National University of Defense TechnologyChangsha 410073China

Based on ACP(artificial systems,computational experiments,and parallel execution)methodology,parallel control and management has become a popularly systematic and complete solution for the control and management of complex *** paper focuses on summarizing comprehensive review of the research literature of parallel control and management achieved in the recent years including the theoretical framework,core technologies,and the application *** future research,application directions,and suggestions are also discussed.

关键词： ACP methodology artificial systems computational experiments parallel control parallel management parallel systems

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Multi-Task Learning-Enabled Automatic Vessel Draft Reading for Intelligent Maritime Surveillance

arXiv

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arXiv 2023年

作者： Qu, Jingxiang Liu, Ryan Wen Zhao, Chenjie Guo, Yu Xu, Sendren Sheng-Dong Zhu, Fenghua Lv, Yisheng The Hubei Key Laboratory of Inland Shipping Technology School of Navigation Wuhan University of Technology Wuhan430063 China The State Key Laboratory of Maritime Technology and Safety Wuhan430063 China The Automation and Control Center The Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

The accurate and efficient vessel draft reading (VDR) is an important component of intelligent maritime surveillance, which could be exploited to assist in judging whether the vessel is normally loaded or overloaded. The computer vision technique with an excellent price-to-performance ratio has become a popular medium to estimate vessel draft depth. However, the traditional estimation methods easily suffer from several limitations, such as sensitivity to low-quality images, high computational cost, etc. In this work, we propose a multi-task learning-enabled computational method (termed MTL-VDR) for generating highly reliable VDR. In particular, our MTL-VDR mainly consists of four components, i.e., draft mark detection, draft scale recognition, vessel/water segmentation, and final draft depth estimation. We first construct a benchmark dataset related to draft mark detection and employ a powerful and efficient convolutional neural network to accurately perform the detection task. The multi-task learning method is then proposed for simultaneous draft scale recognition and vessel/water segmentation. To obtain more robust VDR under complex conditions (e.g., damaged and stained scales, etc.), the accurate draft scales are generated by an automatic correction method, which is presented based on the spatial distribution rules of draft scales. Finally, an adaptive computational method is exploited to yield an accurate and robust draft depth. Extensive experiments have been implemented on the realistic dataset to compare our MTL-VDR with state-of-the-art methods. The results have demonstrated its superior performance in terms of accuracy, robustness, and efficiency. The computational speed exceeds 40 FPS, which satisfies the requirements of real-time maritime surveillance to guarantee vessel traffic safety. Copyright © 2023, The Authors. All rights reserved.

关键词： Image segmentation

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