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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Xiang, Tian-Yu Zhou, Xiao-Hu Xie, Xiao-Liang Liu, Shi-Qi Yang, Hong-Jun Feng, Zhen-Qiu Hao, Jian-Long Hou, Zeng-Guang Institute of Automation The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The School of Information Shanxi University of Finance and Economics Taiyuan030006 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Systems Engineering Macau University of Science and Technology The Joint Laboratory of Intelligence Science and Technology Taipa China

ISBN: (纸本)9781665481090

Electroencephalogram (EEG) is one of the most pop-ular sources for learning human motor characteristics. However, most current methods only consider its temporal features and overlook spatial information. This paper proposes a novel two-stream model based on spatial and temporal features to learn human motor characteristics from EEG signals. The spatial stream is analyzed by graph neural networks (GNN) to extract the relationship among different channels. Adjacent matrices can be learned through the training process, unlike pre-defined ones used in other GNN-based EEG analysis methods. The temporal stream is processed with mixed convolution structures, which consist ID convolution, depthwise convolution, and separable convolution. The features of two streams are fused with fully-connected neural networks for human motor characteristics learning. Experimental results show the proposed model can achieve the accuracy of 0.684/0.709 (four classes motor imagery) in subject-independent/dependent schemes, demonstrating the promising for it used in brain computer interface (BCI) scenarios. © 2022 IEEE.

关键词： Convolution

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Heterogeneous Graph Reinforcement Learning for Dependency-aware Multi-task Allocation in Spatial Crowdsourcing

arXiv

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arXiv 2024年

作者： Zhao, Yong Zhu, Zhengqiu Gao, Chen Wang, En Huang, Jincai Wang, Fei-Yue College of Systems Engineering National University of Defense Technology Hunan Province Changsha410073 China BNRist Tsinghua University Beijing100084 China College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Spatial Crowdsourcing (SC) is gaining traction in both academia and industry, with tasks on SC platforms becoming increasingly complex and requiring collaboration among workers with diverse skills. Recent research works address complex tasks by dividing them into subtasks with dependencies and assigning them to suitable workers. However, the dependencies among subtasks and their heterogeneous skill requirements, as well as the need for efficient utilization of workers’ limited work time in the multi-task allocation mode, pose challenges in achieving an optimal task allocation scheme. Therefore, this paper formally investigates the problem of Dependency-aware Multi-task Allocation (DMA) and presents a well-designed framework to solve it, known as Heterogeneous Graph Reinforcement Learning-based Task Allocation (HGRL-TA). To address the challenges associated with representing and embedding diverse problem instances to ensure robust generalization, we propose a multi-relation graph model and a Compound-path-based Heterogeneous Graph Attention Network (CHANet) for effectively representing and capturing intricate relations among tasks and workers, as well as providing embedding of problem state. The task allocation decision is determined sequentially by a policy network, which undergoes simultaneous training with CHANet using the proximal policy optimization algorithm. Extensive experiment results demonstrate the effectiveness and generality of the proposed HGRL-TA in solving the DMA problem, leading to average profits that is 21.78% higher than those achieved using the metaheuristic methods. © 2024, CC BY-NC-ND.

关键词： Reinforcement learning

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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Cyber-Physical Social Intelligence (ICCSI), International Conference on

作者： Jialiang Luo Shichao Chen Yisheng Lv Wenqiao Sun Fan Yang Ruijie Xu The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University Jinan China Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Hong Kong China

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field.

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Research on Attention-Based Predictive Model in Multi-Agent Reinforcement Learning

Research on Attention-Based Predictive Model in Multi-Agent ...

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2022 Chinese Automation Congress, CAC 2022

作者： Hong, Weixin Wu, Huaiyu Shen, Zhen Xiong, Gang Hu, Bin Dong, Xisong Wang, Fei-Yue The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing100190 China The Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China

ISBN: (纸本)9781665465335

Agent actions planning is a challenging problem in multi-agent reinforcement learning. Recent methods typically build their predictive models by full connection layers, but the shortage of utilizing action and observation information in complex multi-agent environment limits the performance of those methods. To address this issue, we propose a novel predictive model based on self-attention mechanism which can effectively use information in the environment. Specifically, we use the MADDPG algorithm to make a dataset where the input is the observations and actions and the output is the predicted observations and rewards. We also introduce the multi-head attention mechanism into the predictive model so that the predictive model can better combine different information for prediction. We perform extensive experiments to assess the proposed method and compare it with the representative baseline approach. Results demonstrate that our method outperforms competitors with higher accuracy in different tasks. Our implementation will be publicly available. © 2022 IEEE.

关键词： Reinforcement learning

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A Hierarchical Deep Reinforcement Learning Framework for 6-DOF UCAV Air-to-Air Combat

arXiv

引用

arXiv 2022年

作者： Chai, Jiajun Chen, Wenzhang Zhu, Yuanheng Yao, Zong-Xin Zhao, Dongbin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China China

Unmanned combat air vehicle (UCAV) combat is a challenging scenario with continuous action space. In this paper, we propose a general hierarchical framework to resolve the within-vision-range (WVR) air-to-air combat problem under 6 dimensions of degree (6-DOF) dynamics. The core idea is to divide the whole decision process into two loops and use reinforcement learning (RL) to solve them separately. The outer loop takes into account the current combat situation and decides the expected macro behavior of the aircraft according to a combat strategy. Then the inner loop tracks the macro behavior with a flight controller by calculating the actual input signals for the aircraft. We design the Markov decision process for both the outer loop strategy and inner loop controller, and train them by proximal policy optimization (PPO) algorithm. For the inner loop controller, we design an effective reward function to accurately track various macro behavior. For the outer loop strategy, we further adopt a fictitious self-play mechanism to improve the combat performance by constantly combating against the historical strategies. Experiment results show that the inner loop controller can achieve better tracking performance than fine-tuned PID controller, and the outer loop strategy can perform complex maneuvers to get higher and higher winning rate, with the generation evolves. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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SST-GAN: Single Sample-based Realistic Traffic Image Generation for Parallel Vision 25

SST-GAN: Single Sample-based Realistic Traffic Image Generat...

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IEEE 25th International Conference on Intelligent Transportation systems (ITSC)

作者： Wang, Jiangong Wang, Yutong Tian, Yonglin Wang, Xiao Wang, Fei-Yue 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 Qingdao Acad Intelligent Ind Qingdao 266000 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Macau 999078 Peoples R China

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468800

To improve their adaptability to various kinds of driving situations, deep learning-based vision algorithms need images from rare scenes, such as extreme weather conditions and traffic congestions. However, most datasets collected from physical driving environments are lack of such images, making vision models trained on these datasets do not work well in scarce scenes. Thus, we design an SST-GAN method for controllably generating realistic images of scarce driving scenes based on the framework of parallel vision. Trained on only a single sample, SST-GAN can produce hundreds of rare scene images from two directions: style transfer and content generation. Specifically, a transition retraining method is designed to transfer the weather and lighting styles from common scenes to scarce scenes, and a structural similarity index loss is used as reconstruction loss to guarantee the trained network can obtain more realistic content modification and generation during the image reconstruction. Experimental results show that SSTGAN outperforms the state-of-the-art method on expanding the amount of scarce scene images from both style and content. The method is highly adaptable and works flexibly on handling image generation problems for various types of rare scenes.

关键词： Training Adaptation models Image synthesis Design methodology Lighting Indexes Image reconstruction

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Application of Artificial Intelligence in Acute Coronary Syndrome: A Brief Literature Review

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ADVANCES IN THERAPY 2021年第10期38卷 5078-5086页

作者： Wang, Hong Zu, Quannan Chen, Jinglu Yang, Zhiren Ahmed, Mohammad Anis Peoples Hosp Guangxi Zhuang Autonomous Reg Dept Cardiol Nanning 530021 Peoples R China Tianjin Univ Coll Management & Econ Tianjin 300072 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Peking Univ Peoples Hosp Dept Cardiol Beijing Peoples R China

Artificial intelligence (AI) is defined as a set of algorithms and intelligence to try to imitate human intelligence. Machine learning is one of them, and deep learning is one of those machine learning techniques. The application of AI in healthcare systems including hospitals and clinics has many possible advantages and future prospects. Applications of AI in cardiovascular medicine are machine learning techniques for diagnostic procedures including imaging modalities and biomarkers and predictive analytics for personalized therapies and improved outcomes. In cardiovascular medicine, AI-based systems have found new applications in risk prediction for cardiovascular diseases, in cardiovascular imaging, in predicting outcomes after revascularization procedures, and in newer drug targets. AI such as machine learning has partially resolved and provided possible solutions to unmet requirements in interventional cardiology. Predicting economically vital endpoints, predictive models with a wide range of health factors including comorbidities, socioeconomic factors, and angiographic factors comprising of the size of stents, the volume of contrast agent which was infused during angiography, stent malposition, and so on have been possible owing to machine learning and AI. Nowadays, machine learning techniques might possibly help in the identification of patients at risk, with higher morbidity and mortality following acute coronary syndrome (ACS). AI through machine learning has shown several potential benefits in patients with ACS. From diagnosis to treatment effects to predicting adverse events and mortality in patients with ACS, machine learning should find an essential place in clinical medicine and in interventional cardiology for the treatment and management of patients with ACS. This paper is a review of the literature which will focus on the application of AI in ACS.

关键词： Artificial intelligence Machine learning Acute coronary syndrome Percutaneous coronary intervention Mortality Myocardial infarction Major adverse cardiac events

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Deep Reinforcement Learning-Based Automatic Exploration for Navigation in Unknown Environment

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING systems 2020年第6期31卷 2064-2076页

作者： Li, Haoran Zhang, Qichao Zhao, Dongbin Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to cover various environments and sensor properties. Learning-based control methods are adaptive for these scenarios. However, these methods are damaged by low learning efficiency and awkward transferability from simulation to reality. In this paper, we construct a general exploration framework via decomposing the exploration process into the decision, planning, and mapping modules, which increases the modularity of the robotic system. Based on this framework, we propose a deep reinforcement learning-based decision algorithm that uses a deep neural network to learning exploration strategy from the partial map. The results show that this proposed algorithm has better learning efficiency and adaptability for unknown environments. In addition, we conduct the experiments on the physical robot, and the results suggest that the learned policy can be well transferred from simulation to the real robot.

关键词： Robot sensing systems Navigation Entropy Neural networks Task analysis Planning Automatic exploration deep reinforcement learning (DRL) optimal decision partial observation

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A Preliminary Study on the Functional Coupling between Nerve and Blood Microcirculation for Applications in Rehabilitation Robots

A Preliminary Study on the Functional Coupling between Nerve...

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IEEE International Conference on Robotics and Biomimetics

作者： Qingge Li Yuanzhe Dong Yuxiang Zhang Xin Wang Naifu Jiang Jianping Huang Han Cui Lan Tian Yue Zheng Xiangxin Li Lin Wang Guanglin Li Wenyuan Liang Liang Peng Peng Fang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China National Research Center for Rehabilitation Technical Aids Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Rehabilitation robots play an important role in the motor function rehabilitation for stroke survivors with hemiplegia. However, the rehabilitation effect of current robots is still limited partly because a single training of motor function can be strongly affected by the decreased blood supply function of the bedridden patients. This work proposed an approach to study the coupling relationship between the motor and blood supply functions by combining the synchronously recorded EEG and cerebral blood oxygen information, where the cerebrations in different movement paradigms were analyzed from an aspect of "functional coupling". The results show that the information of oxyhemoglobin concentration change (ΔHbO) can effectively indicate the cortex activation, and a stronger blood supply is needed in cortexes to perform body movements. The correlations within motor cortexes are significantly stronger than the ones between motor and prefrontal cortexes, and a higher resistance level of extremity training will cause stronger correlations. Calculation of transfer entropy (TE) shows that there exists a bidirectional information transmission between the electrophysiological and blood supply signals, and more information is transmitted always in the direction from ΔHbO to EEG than in the opposite direction. The information transmission or the coupling relationship can be significantly enhanced by extremity movements, and large TE values are achieved in the Theta, Beta and Gamma frequency bands of EEG that correspond to motor functions. This work has demonstrated the functional coupling between nerve and blood microcirculation, which would provide a technical guidance to improve the rehabilitation effect for current robot systems and have great application potentials.

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A Pilot Study on Coupling Behaviors of Limb Movements and Brain Activation Based on EEG and fNIRS Synchronization Information

A Pilot Study on Coupling Behaviors of Limb Movements and Br...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Xi Tang Qingge Li Yao Tang Lan Tian Yue Zheng Xiangxin Li Naifu Jiang Peng Shang Guanglin Li Liang Peng Peng Fang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems & the Shenzhen Engineering Laboratory of Neural Rehabilitation Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Motion is one of the basic physiological functions of human beings. However, many brain diseases such as stroke may cause different degrees of motor dysfunctions for patients. As a commonly used rehabilitation method, active and passive exercise training may enhance patients’ neuromuscular functions and recover their motor abilities. It is known that limb movements are strongly coupled with brain activation but there is currently insufficient exploration on the coupling behaviors from the perspective of informatics. In this study, the coupling relationship between limb movements and brain activation was preliminarily studied based on three healthy subjects. Electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals were synchronously collected during lower limb movements, and time-frequency analysis (TFA) and transfer entropy (TE) analysis were performed to quantitatively study the brain activation behaviors. In the experiments, a desynchronization phenomenon of μ rhythm in EEG was observed during exercise states, and the experimental results demonstrate the activation rule of motor and prefrontal cortexes upon limb movements. Calculations show that there exists a bidirectional flow of information between EEG and cerebral oxygen metabolism signals, but with a difference between different directions. This work may support the rehabilitation for patients with motor dysfunctions with a guidance of quantitative indicators and also benefit the exploration on neuroscience.

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