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Fuzzy C-Means Clustering Based Deep Patch Learning With Improved Interpretability for Classification Problems

IEEE ACCESS 2022年 10卷 49873-49891页

作者： Huang, Yunhu Chen, Dewang Zhao, Wendi Lv, Yisheng Fuzhou Univ Coll Comp & Data Sci Fuzhou 350108 Peoples R China Fujian Univ Technol Sch Transportat Fuzhou 350118 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Fuzhou Univ Key Lab Intelligent Metro Univ Fujian Prov Fuzhou 350118 Peoples R China

Grid partitioning for input space results in the exponential rise in the number of rules in adaptive network-based fuzzy inference system (ANFIS) and patch learning (PL) as the number of features increases, thus resulting in the huge computational load and deteriorating its interpretability. An improved PL (iPL) is put forward for the training of each sub-fuzzy system to overcome the rule-explosion problem. In the iPL, input partitioning is done using fuzzy c-means (FCM) clustering to avoid the heavy computational complexity arising due to the large number of rules generated from high dimensionality. In this paper, two novel classifiers, called FCM clustering based deep patch learning with improved high-level interpretability for classification problems, are presented, named as HI-FCMDPL-CP1 and HI-FCMDPL-CP2. The proposed classifiers have two characteristics: One is a stacked deep structure of component iPL fuzzy classifiers for high accuracy, and the other is the use of maximal information coefficient (MIC) and the maximum misclassification threshold (MMT) to optimize the deep structures. High interpretability is achieved at each layer by using the FCM clustering, concise structure and large input dimensionality. The MMT, random input (RI) and parameter sharing (PS) are integrated to improve their classification accuracy without losing their interpretability. Experiments on several real-word datasets demonstrated that MIC, RI and PS in HI-FCMDPL-CP1 and HI-FCMDPL-CP2 are effective individually, and integrating them all three can further improve the classification performance. A more concise deep fuzzy system is obtained with the number of features and fuzzy rules reduced simultaneously. Furthermore, MIC, RI and PS are used to determine the advantages and disadvantages of using serial versus parallel structures to avoid subjective selection of these two categories.

关键词： Computational modeling Training Microwave integrated circuits Deep learning Data models Artificial neural networks Training data Fuzzy c-means (FCM) clustering maximal information coefficient (MIC) random input (RI) deep patch learning classifier interpretability

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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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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

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

ISBN: (纸本)9798350312492

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. © 2023 IEEE.

关键词： Cost effectiveness

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SIM: A Scenario IMagination Based Deep Reinforcement Learning Method for Outdoor Transportation Environment Exploration 11

SIM: A Scenario IMagination Based Deep Reinforcement Learnin...

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11th IEEE Data Driven control and Learning systems Conference, DDCLS 2022

作者： Li, Haoran Zhang, Qichao Chen, Yaran Zhao, Dongbin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Peng Cheng Laboratory Shenzhen518000 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

Autonomous exploration is very important for robotics, especially for mapping, navigation, and planning in an unknown environment. In recent years, automatic exploration methods in the indoor environment have been extensively studied, but there is little research on exploration in the outdoor transportation environment. Due to the limitations of outdoor traffic rules and the scale of the environment, the methods for the indoor environment are difficult to apply to the transportation environment. Aiming at exploration in the transportation environment, this paper proposes a deep reinforcement learning algorithm based on Scenario IMagination(SIM), which has two important components: 1) a mid-level action space, which combines the classical robot control algorithm, addressing the inefficient learning and unstable navigation of deep reinforcement learning algorithms in automatic exploration. With this action space, the deep reinforcement learning algorithm achieves excellent exploration performance in both normal scale environments and large-scale branchless environments;2) a scenarios buffer, which relieves hard exploration problems of deep reinforcement learning due to serious imbalances of samples in large-scale multibranch scenarios. Compared to the map-less navigation approaches, SIM achieves excellent exploration performance in large-scale multi-branch environments. © 2022 IEEE.

关键词： Navigation

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Motor-Cortex-Like Recurrent Neural Network and Multitask Learning for the control of Musculoskeletal systems

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IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL systems 2022年第2期14卷 424-436页

作者： Chen, Jiahao Qiao, Hong 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 Beijing Key Lab Res & Applicat Robot Intelligence Beijing 100190 Peoples R China CAS Ctr Excellence Brain Sci & Intelligence Techn Shanghai 200031 Peoples R China

The musculoskeletal robot is a promising direction of the next-generation robots. However, current control methods of musculoskeletal robots lack multitask learning ability, great generalization, and biological plausibility. In this article, a motor-cortex-like recurrent neural network (RNN) and a reward-modulated multitask learning method are proposed. First, inspired by the dynamic system hypothesis of motor cortex, the RNN is introduced to transform movement targets into muscle excitations. The condition that makes an RNN generate motor-cortex-like consistent population response is investigated. Second, a reward-modulated multitask learning method of such an RNN is proposed. In the experiments, the control of a musculoskeletal system is realized with multitask learning ability, great generalization, and robustness for noises. Furthermore, the RNN and muscle excitations demonstrate motor-cortex-like consistent population response and human-like muscle synergies, respectively. Therefore, the proposed method has better performance and biological plausibility, and verifies the neural mechanisms in the robotic research.

关键词： Muscles Musculoskeletal system Robots Statistics Sociology Recurrent neural networks Neurons Biologically inspired motor cortex muscle synergy musculoskeletal system neuromuscular control recurrent neural network (RNN)

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When Does Sora Show:The Beginning of TAO to Imaginative Intelligence and Scenarios Engineering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 809-815页

作者： Fei-Yue Wang Qinghai Miao Lingxi Li Qinghua Ni Xuan Li Juanjuan Li Lili Fan Yonglin Tian Qing-Long Han School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Department of Electrical and Computer Engineering Indiana University-Purdue University IndianapolisIndianapolisIN 46202USA Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

DURING our discussion at workshops for writing“What Does ChatGPT Say:The DAO from Algorithmic Intelligence to Linguistic Intelligence”[1],we had expected the next milestone for Artificial Intelligence(AI)would be in the direction of Imaginative Intelligence(II),i.e.,something similar to automatic wordsto-videos generation or intelligent digital movies/theater technology that could be used for conducting new“Artificiofactual Experiments”[2]to replace conventional“Counterfactual Experiments”in scientific research and technical development for both natural and social studies[2]-[6].Now we have OpenAI’s Sora,so soon,but this is not the final,actually far away,and it is just the beginning.

关键词： something Intelligence replace

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Accurate assessment of low-function autistic children based on EEG feature fusion

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JOURNAL OF CLINICAL NEUROSCIENCE 2021年第0期90卷 351-358页

作者： Kang, Jiannan Jin, Yajuan Liang, Guanhao Li, Xiaoli Hebei Univ Inst Elect Informat Engn Baoding Peoples R China State Key Lab Management & Control Complex Syst Beijing Peoples R China Beijing Normal Univ State Key Lab Cognit Neurosci & Learning Beijing Peoples R China

Autism spectrum disorder (ASD) is a very serious neurodevelopmental disorder and diagnosis mainly depends on the clinical scale, which has a certain degree of subjectivity. It is necessary to make accurate evaluation by objective indicators. In this study, we enrolled 96 children aged from 3 to 6 years: 48 low function autistic children (38 males and 10 females;mean +/- SD age: 4.9 +/- 1.1 years) and 48 typically developing (TD) children (38 males and 10 females;mean +/- SD age: 4.9 +/- 1.2 years) to participate in our experiment. We investigated to fuse multi-features (entropy, relative power, coherence and bicoherence) to distinguish low-function autistic children and TD children accurately. Minimum redundancy maximum correlation algorithm was used to choose the features and support vector machine was used for classification. Ten-fold cross validation was used to test the accuracy of the model. Better classification result was obtained. We tried to provide a reliable basis for clinical evaluation and diagnosis for ASD. (c) 2021 Elsevier Ltd. All rights reserved.

关键词： ASD EEG Multi-feature Assessment Children

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A Survey of Brain-Inspired Intelligent Robots: Integration of Vision, Decision, Motion control, and Musculoskeletal systems

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IEEE TRANSACTIONS ON CYBERNETICS 2022年第10期52卷 11267-11280页

作者： Qiao, Hong Chen, Jiahao Huang, Xiao 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 Beijing Inst Technol Key Lab Biomimet Robots & Syst Chinese Minist Educ Sch Mechatron EngnAdv Innovat Ctr Intelligent Ro Beijing 100081 Peoples R China

Current robotic studies are focused on the performance of specific tasks. However, such tasks cannot be generalized, and some special tasks, such as compliant and precise manipulation, fast and flexible response, and deep collaboration between humans and robots, cannot be realized. Brain-inspired intelligent robots imitate humans and animals, from inner mechanisms to external structures, through an integration of visual cognition, decision making, motion control, and musculoskeletal systems. This kind of robot is more likely to realize the functions that current robots cannot realize and become human friends. With the focus on the development of brain-inspired intelligent robots, this article reviews cutting-edge research in the areas of brain-inspired visual cognition, decision making, musculoskeletal robots, motion control, and their integration. It aims to provide greater insight into brain-inspired intelligent robots and attracts more attention to this field from the global research community.

关键词： Robots Visualization Task analysis Brain modeling Musculoskeletal system Motion control Decision making Brain-inspired intelligent robots decision making muscle control musculoskeletal robots visual cognition

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Conversational Crowdsensing: A Parallel Intelligence Powered Novel Sensing Approach

arXiv

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arXiv 2024年

作者： Zhu, Zhengqiu Zhao, Yong Chen, Bin Qiu, Sihang Xu, Kai Yin, Quanjun Huang, Jincai Liu, Zhong Wang, Fei-Yue College of Systems Engineering National University of Defense Technology Hunan Province Changsha410073 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

The transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 brings new requirements and opportunities to current sensing approaches, especially in light of recent progress in Chatbots and Large Language Models (LLMs). Therefore, the advancement of parallel intelligence-powered Crowdsensing Intelligence (CSI) is witnessed, which is currently advancing towards linguistic intelligence. In this paper, we propose a novel sensing paradigm, namely conversational crowdsensing, for Industry 5.0. It can alleviate workload and professional requirements of individuals and promote the organization and operation of diverse workforce, thereby facilitating faster response and wider popularization of crowdsensing systems. Specifically, we design the architecture of conversational crowdsensing to effectively organize three types of participants (biological, robotic, and digital) from diverse communities. Through three levels of effective conversation (i.e., inter-human, human-AI, and inter-AI), complex interactions and service functionalities of different workers can be achieved to accomplish various tasks across three sensing phases (i.e., requesting, scheduling, and executing). Moreover, we explore the foundational technologies for realizing conversational crowdsensing, encompassing LLM-based multi-agent systems, scenarios engineering and conversational human-AI cooperation. Finally, we present potential industrial applications of conversational crowdsensing and discuss its implications. We envision that conversations in natural language will become the primary communication channel during crowdsensing process, enabling richer information exchange and cooperative problem-solving among humans, robots, and AI. © 2024, CC BY.

关键词： Multi agent systems

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A Gait Events Detection Algorithm Based on the Invariant Characteristic of Hip Joint Kinematics 33

A Gait Events Detection Algorithm Based on the Invariant Cha...

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第33届中国控制与决策会议

作者： Ningcun Xu Xiwei Peng Liang Peng Zeng-Guang Hou Institute of Intelligent Sensing & Motion Control School of AutomationBeijing Institute of Technology The State Key Laboratory for Management and Control of Complex Systems(SKL-MCCS) Institute of AutomationChinese academy of Science

ISBN: (纸本)9781665431293

In order to make up for the shortcomings of a single inertial sensor,which is easily disturbed and unable to directly describe the periodic characteristics of gait,a novel gait events detection algorithm is proposed which is based on the invariant characteristics of hip joint *** healthy volunteers conducted a walking experiment over the ground,who were equipped with motion capture device and insole with *** hip angle derived from motion capture device were applied to detect gait events,heel stride(HS) and toe off(TO).And the gait events detected by ground reactor force(GRF) were taken as the reference *** mean absolute difference of HS is 28±42 ms,and the mean absolute difference of TO is 27 ± 43 ms. And the confidence levels of the two gait events are 97.5% and 99.2%,*** results demonstrate that the proposed gait events detection algorithm is reliability and has potential clinical application value.

关键词： gait event inertial sensor hip joint kinematics statistical analysis

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Local and Global Perception Generative Adversarial Network for Facial Expression Synthesis

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IEEE TRANSACTIONS ON CIRCUITS AND systems FOR VIDEO TECHNOLOGY 2022年第3期32卷 1443-1452页

作者： Xia, Yifan Zheng, Wenbo Wang, Yiming Yu, Hui Dong, Junyu Wang, Fei-Yue Univ Portsmouth Sch Creat Technol Portsmouth PO1 2DJ Hants England Xi An Jiao Tong Univ Sch Software Engn Xian 710049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Ocean Univ China Dept Informat Sci & Technol Qingdao 266100 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Macau 999078 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China

Facial expression synthesis has gained increasing attention with the development of Generative Adversarial Networks (GANs). However, it is still very challenging to generate high-quality facial expressions since the overlapping and blur commonly appear in the generated facial images especially in the regions with rich facial features such as eye and mouth. Generally, existing methods mainly consider the face as a whole in facial expression synthesis without paying specific attention to the characteristics of facial expressions. In fact, according to the physiological and psychological research, the differences of facial expressions often appear in crucial regions such as eye and mouth. Motivated by this observation, a novel end-to-end facial expression synthesis method called Local and Global Perception Generative Adversarial Network (LGP-GAN) with a two-stage cascaded structure is proposed in this paper which is designed to extract and synthesize the details of the crucial facial regions. LGP-GAN can combine the generated results from the global network and local network into the corresponding facial expressions. In Stage I, LGP-GAN utilizes local networks to capture the local texture details of the crucial facial regions and generate local facial regions, which fully explores crucial facial region domain information in facial expressions. And then LGP-GAN uses a global network to learn the whole facial information in Stage II to generate the generate final facial expressions building upon local generated results from Stage I. We conduct qualitative and quantitative experiments on the commonly used public database to verify the effectiveness of the proposed method. Experimental results show the superiority of the proposed method over the state-of-the-art methods.

关键词： Task analysis Face recognition Mouth Generative adversarial networks Facial features Generators Gallium nitride Facial expression synthesis generative adversarial networks facial expression recognition local facial region facial mask

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