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Bridging the Micro and Macro: Calibration of Agent-Based Model Using Mean-Field Dynamics

IEEE TRANSACTIONS ON CYBERNETICS 2022年第11期52卷 11397-11406页

作者： Ye, Peijun Chen, Yuanyuan Zhu, Fenghua Lv, Yisheng Lu, Wanze Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Beijing Univ Technol Sch Artificial Intelligence & Automat Beijing 100124 Peoples R China Qingdao Acad Intelligent Ind Parallel Intelligence Res Ctr Qingdao 266109 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Macau Peoples R China

Calibration of agent-based models (ABM) is an essential stage when they are applied to reproduce the actual behaviors of distributed systems. Unlike traditional methods that suffer from the repeated trial and error and slow convergence of iteration, this article proposes a new ABM calibration approach by establishing a link between agent microbehavioral parameters and systemic macro-observations. With the assumption that the agent behavior can be formulated as a high-order Markovian process, the new approach starts with a search for an optimal transfer probability through a macrostate transfer equation. Then, each agent's microparameter values are computed using mean-field approximation, where his complex dependencies with others are approximated by an expected aggregate state. To compress the agent state space, principal component analysis is also introduced to avoid high dimensions of the macrostate transfer equation. The proposed method is validated in two scenarios: 1) population evolution and 2) urban travel demand analysis. Experimental results demonstrate that compared with the machine-learning surrogate and evolutionary optimization, our method can achieve higher accuracies with much lower computational complexities.

关键词： Calibration Computational modeling Mathematical model Machine learning Aggregates Optimization Bayes methods Agent-based model (ABM) calibration Markovian process

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Joint Anchor-Feature Refinement for Real-Time Accurate Object Detection in Images and Videos

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IEEE TRANSACTIONS ON CIRCUITS AND systems FOR VIDEO TECHNOLOGY 2021年第2期31卷 594-607页

作者： Chen, Xingyu Yu, Junzhi Kong, Shihan Wu, Zhengxing Wen, Li 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 ESATColl Engn Beijing 100871 Peoples R China Beihang Univ Sch Mech Engn & Automat Beijing 100191 Peoples R China

Object detection has been vigorously investigated for years but fast accurate detection for real-world scenes remains a very challenging problem. Overcoming drawbacks of single-stage detectors, we take aim at precisely detecting objects for static and temporal scenes in real time. Firstly, as a dual refinement mechanism, a novel anchor-offset detection is designed, which includes an anchor refinement, a feature location refinement, and a deformable detection head. This new detection mode is able to simultaneously perform two-step regression and capture accurate object features. Based on the anchor-offset detection, a dual refinement network (DRNet) is developed for high-performance static detection, where a multi-deformable head is further designed to leverage contextual information for describing objects. As for temporal detection in videos, temporal refinement networks (TRNet) and temporal dual refinement networks (TDRNet) are developed by propagating the refinement information across time. We also propose a soft refinement strategy to temporally match object motion with the previous refinement. Our proposed methods are evaluated on PASCAL VOC, COCO, and ImageNet VID datasets. Extensive comparisons on static and temporal detection verify the superiority of DRNet, TRNet, and TDRNet. Consequently, our developed approaches run in a fairly fast speed, and in the meantime achieve a significantly enhanced detection accuracy, i.e., 84.4% mAP on VOC 2007, 83.6% mAP on VOC 2012, 69.4% mAP on VID 2017, and 42.4% AP on COCO. Ultimately, producing encouraging results, our methods are applied to online underwater object detection and grasping with an autonomous system. Codes are publicly available at https://***/SeanChenxy/TDRN.

关键词： Feature extraction Head Object detection Videos Detectors Real-time systems Task analysis Object detection neural networks computer vision deep learning

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Extended state Observer-Based controller With Model Predictive Governor for 3-D Trajectory Tracking of Underactuated Underwater Vehicles

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2021年第9期17卷 6114-6124页

作者： Kong, Shihan Sun, Jinlin Qiu, Changlin Wu, Zhengxing 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 Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Peking Univ State Key Lab Turbulence & Complex Syst Dept Adv Mfg & Robot BIC ESATColl Engn Beijing 100871 Peoples R China

In this article, an extended state observer (ESO)-based controller with a model predictive governor is designed for 3-D trajectory tracking of underactuated underwater vehicles. The proposed control scheme takes three primary challenges including underactuated property, velocity constraint, and lumped disturbance into consideration. With respect to the model predictive governor, an underactuated kinematic tracking error model is utilized to produce reference velocities. Meanwhile, a heading angle compensation mechanism is utilized to avoid the steady tracking errors resulting from dynamics coupling of the vehicle. Besides, an ESO is designed to estimate the lumped disturbances and unmeasured velocity states. Based on the ESO, a kinetic controller is offered to accomplish the precise velocity tracking only in virtue of the position and orientation information. Note that this article details both the design process of the control scheme and rigorous theoretical analysis. Eventually, simulation and experimental results demonstrate the feasibility and superiority of the proposed method. Notably, this work lays the foundation for the underactuated trajectory tracking control in complicated and turbulent underwater environments.

关键词： Underwater vehicles Trajectory tracking Predictive models Three-dimensional displays Observers Solid modeling Kinetic theory 3-D trajectory tracking extended state observer (ESO) model predictive control (MPC) robust control underactuated underwater vehicle

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Traffic Signal control Based on Reinforcement Learning and Fuzzy Neural Network 25

Traffic Signal Control Based on Reinforcement Learning and F...

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

作者： Zhao, Hongxia Chen, Songhang Zhu, Fenghua Tang, Haina Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Fujian Inst Res Struct Matter Fujian Prov Key Lab Intelligent Identificat & Con Fuzhou 350002 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468800

For traffic signal control of intersections in cities, a new controller based on reinforcement learning and fuzzy neural network is proposed in this paper. The fuzzy neural network has the advantages of both fuzzy control and neural network, and overcome the former's lack of self-learning and generalization ability, and the latter's lack of understandability. Meanwhile, the reinforcement learning can make the controller improve itself on line continually by the simple feedback of environment. The result of computational experiments shows that the proposed traffic signal control algorithm can achieve a more effective optimization control.

关键词： Fuzzy control Adaptation models Urban areas Neural networks Green products Transportation Reinforcement learning

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Contextual Multi-Armed Bandit-Based Dynamic Cooperative Link Configuration for AUV in UWASNs With Energy Harvesting

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Dai, Jun Li, Xinbin Han, Song Yu, Junzhi Liu, Zhixin Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Qinhuangdao066004 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

This paper investigates the cooperative link configuration problem for Autonomous Underwater Vehicle (AUV) in Underwater Acoustic (UWA) sensor networks with Energy Harvesting (EH), which aims to maximize long-term cumulative capacity by jointly optimizing cooperation relay, AUV transmission power, and relay transmission power. Subject to unknown time-varying Channel state Information (CSI), unpredictable stochastic EH, and variable communication topology caused by AUV mobility, the proposed problem is an unknown dynamic combination decision optimization problem. To resist the change of the dynamic UWA communication topology with unknown time-varying CSI and EH, a novel collaborative contextual multi-armed bandit learning framework is proposed, which allows relay nodes to learn cooperatively and enriches the learning information of relays. Consequently, the proposed learning framework can resist the change of the dynamic UWA communication topology efficiently, thereby achieving the superior link configuration quickly. Besides, a learning-rate adjustment rule for the dynamic UWA communication topology is proposed to adaptively balance the exploration-exploitation, thereby avoiding missing the real superior joint relay-power configuration. Finally, simulation results show the significantly superiority of the proposed scheme. © 2015 IEEE.

关键词： Cooperative communication

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IWSCR: An Intelligent Water Surface Cleaner Robot for Collecting Floating Garbage

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2021年第10期51卷 6358-6368页

作者： Kong, Shihan Tian, Manjun Qiu, Changlin Wu, Zhengxing 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 Minzu Univ China Sch Informat Engn Beijing 100081 Peoples R China Peking Univ State Key Lab Turbulence & Complex Syst Dept Mech & Engn Sci BIC ESATColl Engn Beijing 100871 Peoples R China

In this article, a robot system for intelligent water surface cleaner named IWSCR is developed to collect floating plastic garbage. It is able to accomplish three major tasks autonomously, i.e., cruise and detection, tracking and steering, and grasping and collection. The challenges behind these tasks involve how to realize the accurate and real-time garbage detection, how to resist the disturbances while IWSCR conducts vision-based steering, and how to grasp the floating garbage reliably despite the turbulent conditions on the surface of the water. To overcome these difficulties, three key techniques are proposed for IWSCR. First, the YOLOv3 network, which is widely applied in the high speed and accuracy object detection field, is trained on the proposed floating garbage dataset to realize accurate and real-time garbage detection. Next, to improve the ability of resisting disturbances, a control law based on the sliding-mode controller is proposed for vision-based steering. Furthermore, inspired by the stability of floating bottles in fluid, a feasible grasping strategy is utilized for IWSCR. Finally, the experimental results demonstrate that IWSCR is competent to carry out the task of water surface cleaning.

关键词： Grasping Robots Surface cleaning Object detection Vehicle dynamics Task analysis Sea surface Deep learning grasping strategy intelligent water surface cleaner robot system sliding-mode controller (SMC)

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ModuleNet: Knowledge-Inherited Neural Architecture Search

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IEEE TRANSACTIONS ON CYBERNETICS 2022年第11期52卷 11661-11671页

作者： Chen, Yaran Gao, Ruiyuan Liu, Fenggang Zhao, Dongbin Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Coll Artificial Intelligence Beijing 100049 Peoples R China Chinese Univ Hong Kong Dept Comp Sci & Engn Hong Kong Peoples R China Beijing Inst Technol Coll Automat Beijing 100811 Peoples R China

Although neural the architecture search (NAS) can bring improvement to deep models, it always neglects precious knowledge of existing models. The computation and time costing property in NAS also means that we should not start from scratch to search, but make every attempt to reuse the existing knowledge. In this article, we discuss what kind of knowledge in a model can and should be used for a new architecture design. Then, we propose a new NAS algorithm, namely, ModuleNet, which can fully inherit knowledge from the existing convolutional neural networks. To make full use of the existing models, we decompose existing models into different modules, which also keep their weights, consisting of a knowledge base. Then, we sample and search for a new architecture according to the knowledge base. Unlike previous search algorithms, and benefiting from inherited knowledge, our method is able to directly search for architectures in the macrospace by the NSGA-II algorithm without tuning parameters in these modules. Experiments show that our strategy can efficiently evaluate the performance of a new architecture even without tuning weights in convolutional layers. With the help of knowledge we inherited, our search results can always achieve better performance on various datasets (CIFAR10, CIFAR100, and ImageNet) over original architectures.

关键词： Computer architecture Task analysis Knowledge based systems Microprocessors Statistics Sociology Computational modeling Evaluation algorithm knowledge inherited neural architecture search (NAS)

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Knowledge-Experience Graph with Denoising Autoencoder for Zero-Shot Learning in Visual Cognitive Development 27th

Knowledge-Experience Graph with Denoising Autoencoder for Ze...

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27th International Conference on Neural Information Processing

作者： Zhang, Xinyue Yang, Xu Liu, Zhiyong Zhang, Lu Ren, Dongchun Fan, Mingyu Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Meituan Dianping Grp Beijing 100190 Peoples R China

ISBN: (纸本)9783030638221;9783030638238

Visual cognitive development is vital for intelligent robots to handle various types of visual tasks rather than predefined ones. It can transfer the classification ability from an original model to a novel task. However, the high reliance on large amounts of data hinders its development. The energy it costs to adjust to the novel tasks is also a tough problem. Thus we propose a model called knowledge-experience graph (KEG) to imitate the mechanisms of human brains. With the help of social knowledge stored in the knowledge graph, the novel classes can be easily added. The combination of the experience via denoising autoencoder (DAE) also takes the relationship in the visual space into account. With the propagation of information among the graph by graph convolutional network (GCN), KEG generates the classifier of the novel tasks effectively. Experiments show that KEG improves the classification accuracy of novel categories on zero-shot learning and accomplishes visual cognitive development to a certain extent.

关键词： GCN Zero-shot learning Cross-task learning Cognitive development Image classification Denoising autoencoder

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Efficient Parallel Branch Network With Multi-Scale Feature Fusion for Real-Time Overhead Power Line Segmentation

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IEEE SENSORS JOURNAL 2021年第10期21卷 12220-12227页

作者： Gao, Zishu Yang, Guodong Li, En Liang, Zize Guo, Rui 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 State Grid Shandong Elect Power Co Jinan 250001 Peoples R China

Image-based segmentation of overhead power lines is critical for power line inspection. Real-time segmentation helps the inspection robot avoid obstacles or land on the wire during the inspection task. It is challenging for several studies to achieve real-time overhead power line segmentation with high accuracy. In addition, cluttered background brings great difficulties to overhead power lines segmentation. To address these issues, an efficient parallel branch network for real-time overhead power line segmentation is proposed. Our framework combines a context branch that generates useful global information with a spatial branch that preserves high-resolution segmentation details. The asymmetric factorized depth-wise bottleneck (AFDB) module is designed in the context branch to achieve more efficient short-range feature extraction and provide a large receptive field. Furthermore, the subnetwork-level skip connections in the classifier are proposed to fuse long-range features and lead to high accuracy. Experiments demonstrate that our framework achieves more than 90% segmentation accuracy.

关键词： Convolution Feature extraction Image segmentation Inspection Wires Sensors Real-time systems Real-time segmentation lightweight network dilated depth-wise convolution power line inspection

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MAF-Net: A multi-scale attention fusion network for automatic surgical instrument segmentation?

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BIOMEDICAL SIGNAL PROCESSING AND control 2023年第1期85卷

作者： Yang, Lei Gu, Yuge Bian, Guibin Liu, Yanhong Zhengzhou Univ Sch Elect & Informat Engn Zhengzhou 450001 Henan Peoples R China Robot Percept & Control Engn Lab Henan Prov Zhengzhou 450001 Henan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Accurate localization of surgical instruments is of utmost importance for precise robot-assisted surgeries. With the development of artificial intelligence, deep convolutional neural networks (DCNNs) have been widely employed for automatic image segmentation, owing to their strong ability to generate contextual features, especially in the encoder-decoder framework. However, existing segmentation networks lack the feature capturing capability on micro objects and have shortcomings in processing local semantic features. These limitations can affect the precise segmentation of surgical instruments. In response to these issues, this paper proposes a multi-scale attention fusion network called MAF-Net, which comprises residual dense module, a multi-scale atrous convolution (MSAC) module, and an attention fusion module (AFM). To improve the processing ability of local contextual features, we propose replacing skip connections with residual dense module to acquire stronger contexts. Furthermore, a MSAC module is proposed for local feature enhancement, thereby enhancing attention on multi-scale features. In addition, an AFM module is introduced to integrate multi-scale information by cross-scale feature fusion. Experimental results, using two public datasets, Endovis2017 and kvasir-instrument, demonstrate that the proposed network has the ability to achieve precise surgical instrument segmentation and outperforms related advanced methods.

关键词： Semantic segmentation Deep learning Surgical instrument Multi-scale feature fusion Residual dense network

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