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arXiv 2025年

作者： Zhang, Dengke Tang, Quan Liu, Fagui Mei, Haiqing Chen, C.L. Philip The School of Computer Science and Engineering South China University of Technology Guangzhou510006 China The Department of New Network Pengcheng Laboratory Shenzhen518000 China The China Tobacco Guangdong Industrial Corporation Guangzhou510385 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

Semi-supervised semantic segmentation has witnessed remarkable advancements in recent years. However, existing algorithms are based on convolutional neural networks and directly applying them to Vision Transformers poses certain limitations due to conceptual disparities. To this end, we propose TokenMix, a data augmentation technique specifically designed for semi-supervised semantic segmentation with Vision Transformers. TokenMix aligns well with the global attention mechanism by mixing images at the token level, enhancing learning capability for contextual information among image patches. We further incorporate image augmentation and feature augmentation to promote the diversity of augmentation. Moreover, to enhance consistency regularization, we propose a dual-branch framework where each branch applies image and feature augmentation to the input image. We conduct extensive experiments across multiple benchmark datasets, including Pascal VOC 2012, Cityscapes, and COCO. Results suggest that the proposed method outperforms state-of-the-art algorithms with notably observed accuracy improvement, especially under limited fine annotations. Copyright © 2025, The Authors. All rights reserved.

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Learning to Turn: Deformation control of a Novel Flexible Fishtail Actuated by Artificial Muscles

Learning to Turn: Deformation Control of a Novel Flexible Fi...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Junwen Gu Yukai Feng Zhengxing Wu Jian Wang Junzhi Yu Key Laboratory of Cognition and Decision Intelligence for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Achieving agile, fish-like turning remains a critical challenge in the development of robotic fish. The flexible deformation of a fish’s body significantly contributes to its turning ability. Consequently, researchers have devoted substantial efforts to enhancing the compliance and agility of robotic fish. This paper presents a novel flexible fishtail, inspired by the musculoskeletal structure of real fish, which can control the deformation of its flexible components during turns, improving the turning performance of robotic fish. The fishtail primarily consists of a carbon fiber plate with attached artificial muscles. These muscles can contract and stretch, causing the carbon fiber tail to bend and deform. To enable precise deformation control, a dynamic model of the fishtail is established based on Hamilton’s principle. Subsequently, deep reinforcement learning methods such as deep deterministic policy gradient and soft actor-critic are employed to develop a deformation controller under joint deflection. Cross-validation ensures the controller’s accuracy and robustness. The experimental results demonstrate that this controller facilitates the deformation control of the flexible tail across various turning amplitudes and speeds, allowing the fishtail to exhibit adjustable compliance or resistance to fluids during turning motion. Consequently, this enhances the agility of the robotic fish.

关键词： Artificial muscles Deformation Tail Learning (artificial intelligence) Muscles Turning Fish Robustness Carbon Robots

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Kinematics Analysis of a Manipulator for the Power Transmission Line Maintenance Robot

Kinematics Analysis of a Manipulator for the Power Transmiss...

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第42届中国控制会议

作者： Minghao Chen En Li Feng Zhang Rui Guo Zize Liang Yuwei Zhang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences The School of Artificial Intelligence University of Chinese Academy of Sciences Shandong Luneng Intelligence Technology Co. Ltd. The State Grid Shandong Electric Power Company

With the remarkable development of the power grid, traditional manual maintenance modes cannot meet the requirement of efficiency and reliability. Robotic technology is applied for power line maintenance to bring down risks and ensure inspectors' safety. Based on the power transmission line maintenance platform, a 5-DOF manipulator is designed to perform the maintenance tasks for the quad bundle conductors. Then the kinematics analysis of the manipulator is analyzed. The manipulator doesn't meet the Pieper criterion. So an improved adaptive particle swarm optimization(APSO) is proposed for figuring out the inverse kinematics. The weights of the pose and the constraint of the prismatic joint are introduced to the algorithm. What's more, half of the particles are initialized around the incipient value of joints and half of the particles are randomly initialized with the constraint of joints in this algorithm. Results show that the manipulator is able to work in the environment of quad bundle conductors and the proposed algorithm can improve the precision of inverse kinematics and prevent the leap of joints.

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Adaptive Neural Network Asymptotic Tracking control for Autonomous Surface Vehicles

Adaptive Neural Network Asymptotic Tracking Control for Auto...

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Industrial Cyber-Physical systems (ICPS)

作者： Yongchao Liu Qingzhi Wang Baozeng Fu Institute of Complexity Science School of Automation Qingdao University Qingdao China Shandong Key Laboratory of Industrial Control Technology Qingdao China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

In this paper, an adaptive neural network asymptotic tracking control method is presented for autonomous surface vehicles (ASV) with unknown uncertainties. In the control design, a smooth function is integrated into backstepping construction, which can achieve asymptotic convergence. The neural networks are borrowed to approximate the lumped nonlinear functions encompassing the unknown dynamics. It can be proved that the tracking errors of ASV can asymptotically converge to zero and all signals of the ASV closed-loop system are bounded. We offer simulation images to exhibit the validity of the devised asymptotic control method of ASV.

关键词： Adaptation models Backstepping Uncertainty Adaptive systems control design Process control Artificial neural networks

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Learning Representation with Q-irrelevance Abstraction for Reinforcement Learning 11

Learning Representation with Q-irrelevance Abstraction for R...

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11th International Conference on Intelligent control and Information Processing, ICICIP 2021

作者： Hao, Shuai Li, Luntong Liu, Minsong Zhu, Yuanheng Zhao, Dongbin Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing China School of Software Beihang University Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665425155

In order to improve the performance of deep reinforcement learning (DRL) algorithm in high-dimensional observation environments, we propose a new auxiliary task to learn representations to aggregate task-relevant information of observations. Inspired by Q-irrelevance abstraction, our auxiliary task trains a deep Q-network (DQN) to predict the true Q value distribution over all discrete actions. Then we use the output of DQN to train the encoder to discriminate states with different Q values. The encoder is used as the representation of proximal policy optimization (PPO). The resulting algorithm is called as Q-irrelevance Abstraction for Reinforcement Learning (QIARL). After training, the encoder can aggregate states with similar Q value distributions together for any policy and any action. Thus the encoder can encode the important information that is relevant to reinforcement learning task. We test QIARL in four Procgen environments compare with PPO, A2C and Rainbow. The experimental results show QIARL outperforms the other three algorithms. © 2021 IEEE.

关键词： Reinforcement learning

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δ^(15)N-stable isotope analysis of NH_(x): An overview on analytical measurements, source sampling and its source apportionment

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Frontiers of Environmental Science & Engineering 2021年第6期15卷 175-185页

作者： Noshan Bhattarai Shuxiao Wang Yuepeng Pan Qingcheng Xu Yanlin Zhang Yunhua Chang Yunting Fang State Key Joint Laboratory of Environmental Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China State Key Laboratory of Atmospheric Boundary Layer Physics and Atmospheric Chemistry Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Yale-NUIST Center on Atmospheric Environment Nanjing University of Information Science&TechnologyNanjing 210044China CAS Key Laboratory of Forest Ecology and Management Institute of Applied EcologyChinese Academy of SciencesShenyang 110016China

Agricultural sources and non-agricultural emissions contribute to gaseous ammonia(NH_(3))that plays a vital role in severe haze *** and quantitative contributions of these sources to ambient PM_(2.5)(particulate matter with an aerodynamic equivalent diameter below 2.5µm)concentrations remains *** nitrogen isotopic composition(δ^(15)N)of NH_(3)and NH_(4)+(δ^(15)N(NH_(3))andδ^(15)N(NH_(4)+),respectively)can yield valuable information about its sources and associated *** review provides an overview of the recent progress in analytical techniques forδ^(15)N(NH_(3))andδ^(15)N(NH_(4)+)measurement,sampling of atmospheric NH_(3)and NH_(4)+in the ambient air and their sources signature(e.g.,agricultural *** fuel),and isotope-based source apportionment of NH_(3)in urban *** study highlights that collecting sample that are fully representative of emission sources remains a challenge in fingerprintingδ^(15)N(NH_(3))values of NH_(3)emission ***,isotopic fractionation during NH_(3)gas-to-particle conversion under varying ambient field conditions(e.g.,relative humidity,particle pH,temperature)remains unclear,which indicates more field and laboratory studies to validate theoretically predicted isotopic fractionation are ***,this study concludes that lack of refinedδ^(15)N(NH_(3))fingerprints and full understanding of isotopic fractionation during aerosol formation in a laboratory and field conditions is a limitation for isotope-based source apportionment of NH_(3).More experimental work(in chamber studies)and theoretical estimations in combinations of field verification are necessary in characterizing isotopic fractionation under various environmental and atmospheric neutralization conditions,which would help to better interpret isotopic data and our understanding on NH_(x)(NH_(3)+NH_(4)+)dynamics in the atmosphere.

关键词： Aerosol ammonium Atmospheric gaseous ammonia Isotope fingerprinting Isotope-based source apportionment Ammonia gas-to-particle conversion

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Landslide Sensitivity Mapping Based on One-Dimensional Residual Convolutional Neural Networks

Landslide Sensitivity Mapping Based on One-Dimensional Resid...

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2022 Chinese automation Congress, CAC 2022

作者： Ke, Yougang Lu, Chengda Wu, Min Yu, Wanke Niu, Ruiqing School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Institute of Geophysics and Geomatics China University of Geosciences Wuhan China

ISBN: (纸本)9781665465335

Landslide is a common geological disaster. Landslide sensitivity mapping (LSM) is the key technology for landslide monitoring, early warning and risk assessment. Deep learning shows good performance in feature extraction. This paper proposes a one-dimensional residual convolution neural network (1DRCNN), which takes Yunyang County, Chongqing City, China, located in the Three Gorges Reservoir area as the research area. Extracting 12 evaluation factors from multi-source remote sensing data and building a training set. The spatial probability of landslide occurrence is quantitatively predicted by the proposed model, and finally, the landslide sensitivity mapping is generated. Compared with the common machine learning models SVM and logistic regression, the results show that the AUC (area under curve) and accuracy of 1D-RCNN are 0.9860 and 93.38%, respectively, which proving that this method is effective and can provide a reference for disaster prevention and reduction. © 2022 IEEE.

关键词： Landslides

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A Novel YJQR-LSTM Model for Nonparametric Probabilistic Sustainable Agriculture Wind Power Forecasting Based on Intelligent IoT

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IEEE Internet of Things Journal 2024年

作者： Wang, Jie Jiang, Junhui Chen, Xinlong Cai, Defu Wu, Yue Lu, Renzhi School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Harbin Engineering University College of Computer Science and Technology Harbin150001 China State Grid Hubei Electric Power Research Institute Hubei Wuhan430079 China School of Technology State Key Laboratory of Efficient Production of Forest Resources Key Laboratory of National Forestry and Grassland Administration on Forestry Equipment and Automation Beijing Forestry University Beijing100083 China Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing400065 China State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University Chongqing400044 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Energy costs associated with the consumption of non-renewable energy sources have become an important issue in improving the international competitiveness of agriculture. Wind power, as a renewable energy source, can replace non-renewable energy sources to reduce energy costs and improve the sustainability of agricultural. However, the inherent intermittency, randomness, and volatility within weather conditions and wind speed presents a substantial challenge in accurately predicting wind power generation. This work proposes a novel YJQR-LSTM algorithm that leverages Yeo-Johnson quantile regression (YJQR) with a long short-term memory (LSTM) network for nonparametric probabilistic forecasting of wind power generation via the Intelligent Internet of Things. First, an improved YJQR model based on the YJ transformation is designed to obtain a more precise characterization of wind uncertainty, providing a more flexible probability density function for wind power generation. Then, utilizing the unique structure of the LSTM network to learn the parameters of the YJQR model, temporal features can be extracted from time series data. To mitigate the impact of outliers in the raw data on accuracy and improve computational efficiency, a novel logarithmic likelihood function is developed as the loss function utilized in the training phase. The effectiveness of the proposed algorithm is validated using a real-world dataset from five wind farms from the Global Energy Forecasting Competition. Numerical results demonstrate that the algorithm provides more accurate wind power prediction results in complex wind power data environments, which is important for making full use of wind energy and thus reducing the consumption of non-renewable energy in agriculture. © 2024 IEEE.

关键词： Wind forecasting

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A Simplified Variant for Graph Convolutional Network Based Knowledge Graph Completion Model 8

A Simplified Variant for Graph Convolutional Network Based K...

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8th International Conference on Data Science in Cyberspace, DSC 2023

作者： Wang, Yashen Li, Qiang Zhang, Yi Zhang, Xuecheng Ju, Zhuoya Sun, Jian Beijing China Scientific and Technological Innovation Center of Ari Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Cetc Academy of Electronics and Information Technology Group Co. Ltd. Beijing China Khoury College of Computer Science Northeastern University United States Scientific and Technological Innovation Center of Ari Beijing China Qi An Xin Technology Group Inc. Beijing China

ISBN: (纸本)9798350331035

Knowledge graphs (KGs) serve as useful resources for various applications including machine learning, data mining, and artificial intelligence. Knowledge Graph Completion (KGC) aims at reasoning over known (observed) facts and infer the missing (unobserved) relationships, to improve KG's coverage. Many recent works have laid stress on leveraging Graph Convolutional Networks (GCNs) for KGC task, which obtain good representation learning ability for graph-structured data, and have achieved satisfactory results. However, GCN-based researches continue to improve these lines of models by introducing an increasingly complex feature space. Especially, the hyper-parameter space of conventional GCN-based KGC model is too huge, resulting in low computational efficiency and excessive storage pressure. To overcome this problem, this paper investigates a simplified and generic variant for GCN-based KGC model, and shows that simple changes in the architecture of the underlying architecture (with a Subtraction Operator and an Addition Operator), can compte with state-of-the-art GCN-based models. Therefore, this paper proposes a easy-to-accomplish plug-in unit, which could be loaded into any current GCN-based KGC architectures, and help them maximize the maintenance of native model's original performance while significantly reducing parameter scale. © 2023 IEEE.

关键词： Graph Convolutional Network Knowledge Graph Knowledge Graph Completion Representation Learning

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A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

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Frontiers of Information Technology & Electronic Engineering 2022年第8期23卷 1217-1228页

作者： Manjun TIAN Xiali LI Shihan KONG Licheng WU Junzhi YU First Research Institute of the Ministry of Public Security of PRC Beijing 100048China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

To tackle the problem of aquatic environment pollution,a vision-based autonomous underwater garbage cleaning robot has been developed in our *** propose a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object ***,the YOLOv4 algorithm is chosen as a basic neural network framework to perform object *** the purpose of further improvement on the detection accuracy,YOLOv4 is transformed into a four-scale detection *** improve the detection speed,model pruning is applied to the new *** virtue of the improved detection methods,the robot can collect garbage *** detection speed is up to 66.67 frames/s with a mean average precision(mAP)of 95.099%,and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent.

关键词： Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4

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