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Opening Doors to Sharing Social Media Data

IEEE intelligent systems 2012年第1期27卷 47-51页

作者： Morstatter, Fred Liu, Huan Zeng, Daniel Arizona State Univ Data Min & Machine Learning Lab DMML Tempe AZ 85287 USA Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100864 Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Beijing 100864 Peoples R China Univ Arizona Dept Management Informat Syst Tucson AZ 85721 USA

Research data sharing becomes increasingly difficult in the context of social media. Increasing restrictions from social media sites are creating an environment where data cannot be freely shared and as a result scientific claims cannot be verified. In this work, we present a novel approach to data sharing that does not require explicitly publishing a dataset. We create a framework where researchers systematically share the parameters they used to crawl the dataset along with the code used to collect the data, allowing the reader to re-assemble the dataset at a later time. While this approach is by no means a silver bullet, we seek to start a conversation for researchers to implement approaches to data sharing that can be embraced by the research community. Adapted from the source document.

关键词： Social network services Media Collaboration Information sharing Social Computing Data Sharing Social Media Data Distribution Policy Reproducibility

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A Multi-Modal Edge Consistency Metric Based on Regression Robustness of Truncated SVD

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IEEE SIGNAL PROCESSING LETTERS 2021年 28卷 1065-1069页

作者： Zhu, Mingzhu Yu, Junzhi Gao, Zhang He, Bingwei Liu, Jiantao Fuzhou Univ Sch Mech Engn & Automat Fuzhou 350108 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Prov Key Lab Robot & Intelligent Syst Shenzhen 518055 Peoples R China Peking Univ State Key Lab Turbulence & Complex Syst Dept Adv Mfg & Robot BIC ESATColl Engn Beijing 100871 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

In this paper, we propose a novel edge consistency metric for multi-modal correspondence. It is based on a novel observation on image truncated SVD (singular value decomposition) termed regression robustness, which describes the fact that, a good approximation from image truncated SVD can be inherited even if the eigen-images change due to expansion and channel-dependent offsets. Compared to state-of-the-arts, multi-modal edge consistency metric can simultaneously handle multiple images with complex modality changes, including local variation, gradient reverse, intensity order change, and texture loss. Its complexity is almost linear to pixel number. Remarkable accuracies have been achieved in experiments.

关键词： Image edge detection Measurement Robustness Linear regression complexity theory Noise measurement Mutual information Regression robustness multi-modal corres-pondence edge consistency singular value decomposition

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Robotic Autonomous Grasping Technique: A Survey 5

Robotic Autonomous Grasping Technique: A Survey

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5th Asian Conference on Artificial Intelligence Technology, ACAIT 2021

作者： Wang, Lili Zhang, Zhen Su, Jianhua Gu, Qipeng School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Lab. of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426305

This paper provides a comprehensive survey of robotic autonomous grasping techniques. We summarize three key tasks: grasp detection, affordance detection, and model migration. Grasp detection determines the graspable area and grasping posture of the manipulator, so that the robot can successfully perform the grasps. The grasp detection methods based on deep learning are divided into 3DoF grasp and 6DoF grasp. The object affordances based grasping methods can further improve the robot's understanding of objects and environment, thereby improving the robot's intelligence and autonomy. Methods for object affordances detection are classified as learning-based, knowledge-based, and simulation-based. Model migration means that when the grasping model is migrated to other scenes where lightness and background changes, only little or no label data is required, so that the grasping model can be used in the target scene quickly and efficiently. This paper focuses on domain adaptation (DA) methods in model migration. © 2021 IEEE.

关键词： Surveys

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A Two-Stream CNN With Simultaneous Detection and Segmentation for Robotic Grasping

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2022年第2期52卷 1167-1181页

作者： Yu, Yingying Cao, Zhiqiang Liu, Zhicheng Geng, Wenjie Yu, Junzhi Zhang, Weimin 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 State Key Lab Turbulence & Complex Syst Dept Mech & Engn Sci BIC ESAT Coll Engn Beijing 100871 Peoples R China Beijing Inst Technol Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China

The manipulating robots receive much attention by offering better services, where object grasping is still challenging especially under background interferences. In this article, a novel two-stream grasping convolutional neural network (CNN) with simultaneous detection and segmentation is proposed. The proposed method is cascaded by an improved simultaneous detection and segmentation network BlitzNet and a two-stream grasping CNN TsGNet. The improved BlitzNet introduces the channel-based attention mechanism, and achieves an improvement of detection accuracy and segmentation accuracy with the combination of the learning of multitask loss weightings and background suppression. Based on the obtained bounding box and the segmentation mask of the target object, the target object is separated from the background, and the corresponding depth map and grayscale map are sent to TsGNet. By adopting depthwise separable convolution and designed global deconvolution network, TsGNet achieves the best grasp detection with only a small amount of network parameters. This best grasp in the pixel coordinate system is converted to a desired 6-D pose for the robot, which drives the manipulator to execute grasping. The proposed method combines a grasping CNN with simultaneous detection and segmentation to achieve the best grasp with a good adaptability to background. With the Cornell grasping dataset, the image-wise accuracy and object-wise accuracy of the proposed TsGNet are 93.13% and 92.99%, respectively. The effectiveness of the proposed method is verified by the experiments.

关键词： Grasping Robot kinematics Manipulators Image segmentation Deconvolution Machine learning Global deconvolution network (GDN) robotic grasping simultaneous detection and segmentation two-stream grasping convolutional neural network (CNN)

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Collaborative Scheduling of Computing Tasks for Edge Computing

Collaborative Scheduling of Computing Tasks for Edge Computi...

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2021 China Automation Congress, CAC 2021

作者： Liu, Yue Xiong, Gang Zhu, Fenghua Chen, Shichao Zhang, Liguo Liu, Xudong School of Artificial Intelligence and Automation Beijing University of Technology The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation The Cloud Computing Center Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijing China Faculty of Information and Technology Beijing University of Technology Beijing China

ISBN: (纸本)9781665426473

In the face of the rapid development of the IoT, the traditional cloud computing, while providing services for mobile intelligent devices, also brings problems such as network bandwidth occupation and communication delay. Edge computing can solve these problems to some extent. But too many offloaded tasks may result in an edge server becoming overloaded and execution delay of tasks increasing, the computing resources of idle edge devices are also not fully utilized. In order to make full use of the computing resources of idle edge devices in the local network and reduce the execution delay for computing tasks, this paper takes the average delay time for all end devices as the optimization objective and proposes an end-edge cooperative scheduling (EECS) model to schedule tasks for edge computing. The scheduling algorithm used in EECS model is improved based on MCT algorithm. We use the EdgeCloudSim to verify the EECS model and scheduling algorithm. The simulation results show that the average completion time of computing tasks in EECS model, compared with only single edge server (SEE) task computing model, can be reduced by up to three times. In addition, the system load can be balanced to a certain extent in local network. © 2021 IEEE

关键词： Edge computing

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Discrete-Time Self-Learning Parallel control

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2022年第1期52卷 192-204页

作者： Wei, Qinglai Wang, Lingxiao Lu, Jingwei 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 Parallel Intelligence Innovat Ctr Qingdao 266109 Peoples R China

In this article, a new self-learning parallel control method, which is based on adaptive dynamic programming (ADP) technique, is developed for solving the optimal control problem of discrete- time time-varying nonlinear systems. It aims to obtain an approximate optimal control law sequence and simultaneously guarantees the convergence of the value function. Establishing the time-varying artificial system by neural networks in a certain time-horizon, a control-sequence-improvement ADP algorithm is developed to obtain the control law sequence. For the first time, the criteria of the parallel execution are presented, such that the value function is proven to converge to a finite neighborhood of the optimal performance index function. Finally, numerical results and analysis are presented to demonstrate the effectiveness of the parallel control method.

关键词： Optimal control Nonlinear systems Time-varying systems Performance analysis complex systems Biological neural networks ACP adaptive dynamic programming (ADP) approximate dynamic programming nonlinear systems optimal control parallel control reinforcement learning

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Limit-Cycle-Based Design of Formation control for Mobile Agents

Limit-Cycle-Based Design of Formation Control for Mobile Age...

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作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

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Thrust analysis of the undulating ribbon-fin for biomimetic underwater robots

Thrust analysis of the undulating ribbon-fin for biomimetic ...

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International Conference on intelligent control and Information Processing

作者： Wang, Shuo Dong, Xiang Shang, Liu-Ji State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Institute of Intelligent Machines Chinese Academy of Sciences P.O. Box 1130 Hefei City 230031 Anhui Province China

ISBN: (纸本)9781457708145

Biomimetic underwater robots have been paid more and more attention because of high efficiency, high maneuverability and low-noise. The undulating ribbon-fins used by rajiformes and gymnotiformes show better maneuverability than those of other fishes in turbulent water. So the undulating ribbon-fin propulsion is analyzed for biomimetic underwater robot design and optimization in the paper. The geometric model of the ribbon-fin is set up in Cartesian space. The undulating motion of the ribbon-fin is expressed in trigonometric functions. And the ribbon-fin has been divided into many small elements to compute the force acted on the small element. All the forces acted on the elements in one undulating period are summed, and the average thrust for one undulating period of the ribbon-fin is obtained. The simulation results show the influence of several important parameters on the ribbon-fin thrust. And an experimental platform is built and several experiments are carried out. And the difference between the results of simulation and experiment are discussed further. © 2011 IEEE.

关键词： Fins (heat exchange)

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Visual Tracking Based on Dynamic Coupled Conditional Random Field Model

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IEEE TRANSACTIONS ON intelligent TRANSPORTATION systems 2016年第3期17卷 822-833页

作者： Liu, Yuqiang Wang, Kunfeng Shen, Dayong Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China Natl Univ Def Technol Res Ctr Computat Expt & Parallel Syst Changsha 410073 Hunan Peoples R China

This paper proposes a novel approach to visual tracking of moving objects based on the dynamic coupled conditional random field (DcCRF) model. The principal idea is to integrate a variety of relevant knowledge about object tracking into a unified dynamic probabilistic framework, which is called the DcCRF model in this paper. Under this framework, the proposed approach integrates spatiotemporal contextual information of motion and appearance, as well as the compatibility between the foreground label and object label. An approximate inference algorithm, i.e., loopy belief propagation, is adopted to conduct the inference. Meanwhile, the background model is adaptively updated to deal with gradual background changes. Experimental results show that the proposed approach can accurately track moving objects (with or without occlusions) in monocular video sequences and outperforms some state-of-the-art methods in tracking and segmentation accuracy.

关键词： Coupled conditional random field dynamic models visual tracking region-level tracking spatiotemporal context

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Containment control of Multiagent systems With Dynamic Leaders Based on a PIⁿ-Type Approach

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IEEE TRANSACTIONS ON CYBERNETICS 2016年第12期46卷 3004-3017页

作者： Cheng, Long Wang, Yunpeng Ren, Wei Hou, Zeng-Guang Tan, Min Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Beijing Inst Control Engn Beijing 100190 Peoples R China Univ Calif Riverside Dept Elect & Comp Engn Riverside CA 92521 USA King Abdulaziz Univ Ctr Excellence Intelligent Engn Syst Jeddah 21589 Saudi Arabia

This paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by the nth-order polynomial trajectories. This setting makes practical sense because given some critical points, the leaders' trajectories are usually planned by the polynomial interpolations. I-n order to drive all followers into the convex hull spanned by the leaders, a PIn-type containment algorithm is proposed (P and I are short for proportional and integral, respectively;In implies that the algorithm includes up to the nthorder integral terms). It is theoretically proved that the PIn-type containment algorithm is able to solve the containment problem of MASs where the followers are described by any order integral dynamics. Compared to the previous results on the MASs with dynamic leaders, the distinguished features of this paper are that: 1) the containment problem is studied not only in the continuous-time domain but also in the discrete-time domain while most existing results only work in the continuous-time domain;2) to deal with the leaders with the nth-order polynomial trajectories, existing results require the follower's dynamics to be the (n + 1) th-order integral while the followers considered in this paper can be described by any-order integral dynamics;3) the "sign" function is not employed in the proposed algorithm, which avoids the chattering phenomenon;and 4) both disturbance and measurement noise are taken into account. Finally, some simulation examples are given to demonstrate the effectiveness of the proposed algorithm.

关键词： Containment control multiagent system (MAS) PIn-type algorithm polynomial trajectory

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