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第33届中国控制与决策会议

作者： Bocheng Chen Gang Peng Dingxin He Cheng Zhou Bin Hu School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Civil and Hydraulic Engineering Huazhong University of Science and Technology Shantui Construction Machinery Co. Ltd.

On the one hand,traditional visual SLAM does not consider dynamic objects in the scene,on the other hand,deep learning technology has been widely used in computer *** paper combines the two organically,and proposes an algorithm that uses dynamic object detection to improve the robustness of visual SLAM in a dynamic ***,we use the object detection network integrated into the attention mechanism to detect the dynamic target in the key ***,we follow the optical flow detection to further determine the dynamic feature points in the scene and eliminate ***,we use the static feature points for camera tracking to achieve highly robust monocular visual *** method described in this paper can not only eliminate dynamic feature points,but also retain as many static feature points as *** method described in this paper is compared with the original ORB-SLAM2 algorithm and DS-SLAM algorithm,and tested with public data *** results show that the method described in this paper can effectively eliminate the influence of dynamic objects on the visual SLAM algorithm.

关键词： Visual SLAM dynamic object detection deep learning optical flow detection attention mechanism

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A Multi-Level Thresholding image Segmentation Based on an Improved Artificial Bee Colony Algorithm 2nd

A Multi-Level Thresholding Image Segmentation Based on an Im...

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2nd EAI International Conference on Robotic Sensor Networks, ROSENET 2018

作者： Xia, Xingyu Gao, Hao Hu, Haidong Lan, Rushi Pun, Chi-Man The Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing China Department of Computer and Information Science University of Macau China Beijing Institute of Control Engineering Beijing China Key Laboratory of Intelligent Processing of Computer Image and Graphics Guilin University of Electronic Technology Guilin China

ISBN: (纸本)9783030177621

As a popular evolutionary algorithm, artificial bee colony (ABC) algorithm has been successfully applied into the threshold-based image segmentation problem. Based on our analysis, we find that the Otsu segmentation function is separable which means each variable is independent. Due to its one-dimensional search strategy and relative power global but poorer local search abilities, ABC could find an acceptable but not precise segmentation results. For making more precise search and further enhancing the achievements on image segmentation, we propose an Otsu segmentation method based on a new ABC algorithm with an improved scout bee strategy. Different from the traditional scout bee strategy, we use a local search strategy when a bee stagnates for a defined value. The experimental results on Berkeley segmentation database demonstrate the effectiveness of our algorithm. © 2020, Springer Science and Business Media Deutschland GmbH. All rights reserved.

关键词： image segmentation

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A Model Reference Adaptive controller with Feedforward Decoupling for Active Magnetic Bearing Rotor System 4

A Model Reference Adaptive Controller with Feedforward Decou...

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4th IEEE Advanced Information Technology, Electronic and Automation control Conference, IAEAC 2019

作者： Yi, Jian Ren, Gui-Ping Zhang, Hai-Tao Wu, Yue Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Wuhan430074 China

ISBN: (纸本)9781728119076

Active magnetic bearing (AMB) rotor system is widely applied in the industry for its remarkable advantages. However, it is a typical open-loop unstable mechatronics system suffering from nonlinear and couple characteristic. In this paper, the feedforward decoupling method is used to deal with the couple relationship of different axes. And the model reference adaptive control (MRAC) method is applied to improve the control performance and robustness and overcome the uncertainties. This control method makes the system output reach to the reference model by the designed adaptive law. Simulation results illustrate the effectiveness of the proposed scheme. © 2019 IEEE.

关键词： Model reference adaptive control

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Optimizing Neural Network image Classification with Fractional Order Gradient Methods

SSRN

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SSRN 2023年

作者： Zhao, Haiming Chen, Jiejie Jiang, Ping Zeng, Zhigang Fan, Rui Yang, Honggang School of Computer and Information Engineering Hubei Normal University Huangshi435000 China School of Automation Wuhan University of Technology Wuhan430000 China School of Computer Hubei PolyTechnic University Huangshi435000 China Faculty of Artificial Intelligence Education Central China Normal University Wuhan430000 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430000 China Key Laboratory of Image Information Processing and Intelligent Control Ministry of Education of China Wuhan430000 China

As deep learning technology increasingly permeates various fields, the significance of optimization algorithms in neural network training has become more prominent. Typically, the training of deep learning networks relies on gradient descent optimizers based on calculus computations. Traditional integer-order calculus optimizers often fall short when dealing with complex and subtle data. To overcome these limitations, we innovatively utilized the Grünwald-Letnikov and Caputo definitions of fractional calculus to develop two new optimization algorithms: Fractional Order Adagrad (FAdagrad) and Fractional Order Adam (FAdam). These algorithms have been proven to converge to extremal points.A key advantage of our methods is their capability in handling complex, high-dimensional tasks, such as artistic painting image classification, where they exhibit exceptional performance in recognizing and processing subtle differences. The robustness and adaptability of these algorithms were further validated through experiments on the CIFAR-100 dataset. The results demonstrate the efficacy of fractional order optimizers in enhancing training efficiency and accuracy. © 2023, The Authors. All rights reserved.

关键词： image classification

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A method for detecting floating objects on water based on edge computing

A method for detecting floating objects on water based on ed...

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IEEE International Symposium on Broadband Multimedia Systems and Broadcasting (BMSB)

作者： He Li Shuaipeng Yang Jinjiang Liu Honglin Fang Zhumu Fu Rui Zhang Huimei Jia Lianmeng Lv Henan Costar Group Co. Ltd Nanyang Henan China College of Information Engineering Henan University of Science and Technology Luoyang Henan China Henan Engineering Research Center of Intelligent Processing for Big Data of Digital Image School of Computer Science and Technology Nanyang Normal University Nanyang China State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunication Beijing China Xi'an Hengpin Electronic Technology Co. Ltd Xi’an China

With the development and application of computer vision, many target detection networks are applied to the detection of floating objects in rivers. For the detection problems such as small targets easily missed and misdetected in water surface floating object detection tasks and difficult to deploy models. An edge computing-oriented approach to river floater detection is proposed. First, a four-fold down-sampling feature layer is added to the YOLOv5 network which enhances more target detail features and improves the detection capability of small objects. Second, CA (Coordinate Attention) is added to the Backbone to suppress background noise interference, and different pooling is used to accommodate different hierarchical features. Then, a bilinear interpolation method is adopted for up-sampling to avoid the loss of small object features. Design a data enhancement algorithm for small targets based on Mosaic to increase the number of small objects and enrich the training background. Finally, for the edge computing architecture platform, the channel pruning algorithm is used to prune and compress the model structure to adapt to the computing capability of edge devices. The experimental results show that the method can effectively improve the detection capability of the network for floating objects on the water surface. The detection accuracy can reach 93.6%, and the detection speed can be maintained at 36 frames per second, which can achieve high-precision real-time detection of floating objects on the water surface.

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Global Ultimate Mittag-Leffler Lag Quasi-Synchronization of Delayed Fractional-Order Memristive Neural Networks with Switching Jumps Mismatch via Pinning control

Global Ultimate Mittag-Leffler Lag Quasi-Synchronization of ...

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第三十九届中国控制会议

作者： Jia Jia Zhigang Zeng School of Artificial Intelligence and Automation the Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology School of Control Science and Engineering Shandong University

In this paper, a novel pinning controller, which is applied to the selected partial neurons with partial errors needed, is designed for global ultimate Mittag-Leffler lag quasi-synchronization(GUMLQS) of delayed fractional-order memristive neural networks(FMNNs) with switching jumps mismatch. Since the right-hand sides of the equations of FMNNs are discontinuous,FMNNs have no solution in the ordinary sense, and Filippov solutions are adopted for FMNNs. With the assistance of fractional Halanay inequality, a Lyapunov function in quadratic form and the theory of fractional derivative, an LMI-based GUMLQS criterion is derived. For a prescribed GUMLQS error bound, the control gain matrices can be calculated out via a group of ***, the sufficient condition for the feasibility of the LMIs is obtained, which is an important basis for the selection of controlled neurons. Finally, a numerical example shows that the designed pinning controller can achieve GUMLQS between master-slave FMNNs with the prescribed ultimate error bound.

关键词： Memristive Neural Networks(MNNs) Fractional-Order Pinning control Global Ultimate Mittag-Leffler Lag Quasi-Synchronization(GUMLQS)

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A self-supervised learning-based 6-DOF grasp planning method for manipulator

arXiv

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arXiv 2021年

作者： Peng, Gang Ren, Zhenyu Wang, Hao Li, Xinde School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan430074 China IEEE senior member School of Automation South East University Nanjing China

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To reduce the time cost of data acquisition and labeling and increase the rate of successful grasps, we developed a self-supervised learning mechanism to control grasp tasks performed by manipulators. First, a manipulator automatically collects the point cloud for the objects from multiple perspectives to increase the efficiency of data acquisition. The complete point cloud for the objects is obtained by utilizing the hand-eye vision of the manipulator, and the TSDF algorithm. Then, the point cloud data for the objects is used to generate a series of six-degrees-of-freedom grasp poses, and the force-closure decision algorithm is used to add the grasp quality label to each grasp pose to realize the automatic labeling of grasp data. Finally, the point cloud in the gripper closing area corresponding to each grasp pose is obtained;it is then used to train the grasp-quality classification model for the manipulator. The results of data acquisition experiments demonstrate that the proposed method allows high-quality data to be obtained. The simulated results prove the effectiveness of the proposed grasp-data acquisition method. The results of performing actual grasping experiments demonstrate that the proposed self-supervised learning method can increase the rate of successful grasps for the manipulator. Copyright © 2021, The Authors. All rights reserved.

关键词： Manipulators

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Distributed second order sliding mode secondary frequency control for HVDC system

Distributed second order sliding mode secondary frequency co...

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Chinese Automation Congress (CAC)

作者： Yang-Ming Dou Ming Chi Zhi-Wei Liu Key Laboratory of Image Processing and Intelligent Control Ministry of Education College of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

This paper studies the secondary frequency control among non-synchronous AC areas interconnected by High Voltage Direct Current (HVDC). A distributed second order sliding mode control scheme is adopted to secondary frequency control of HVDC transmission systems to adjust the frequency of power grid to rated value, which solves the frequency disturbance caused by load power change of the DC power grid. And on this basis, the power generation in each region is reasonably distributed, so as to minimize the cost of power generation. Finally, the stability of the system is proved on an appropriate sliding manifold.

关键词： Frequency control HVDC transmission Power system stability Economics Sliding mode control Power system dynamics Manifolds

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A memristor-based generalization and differentiation circuit design and the application in recognition

A memristor-based generalization and differentiation circuit...

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第三十九届中国控制会议

作者： Meijia Shang Xiaoping Wang Mian Li the School of Artificial Intelligence and Automation Huazhong University of Science and Technology IEEE the Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China

The traditional Pavlov associative memory circuit realizes the law of learning and forgetting in classical conditioned reflex. In addition, the law of generalization and differentiation also belongs to classical conditioned reflex, so the process of associative memory can be more effectively simulated by adding generalization and differentiation theory on the basis of traditional associative memory. In this paper, a memristor-based circuit is designed to implement generalization and differentiation based on Pavlov associative memory. The circuit can be applied to simple classification recognition. Based on the features of objects as input, the output of the circuit is used as the classification result to achieve the function of classification and recognition. Finally,the accuracy of classification recognition on the generalization and differentiation circuit proposed in this paper can be verified by the simulation results in PSPICE.

关键词： Memristor generalization differentiation Pavlov associative memory recognition

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Integrating Informativeness, Representativeness and Diversity in Pool-Based Sequential Active Learning for Regression

arXiv

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arXiv 2020年

作者： Liu, Ziang Wu, Dongrui Ministry of Education Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

—In many real-world machine learning applications, unlabeled samples are easy to obtain, but it is expensive and/or time-consuming to label them. Active learning is a common approach for reducing this data labeling effort. It optimally selects the best few samples to label, so that a better machine learning model can be trained from the same number of labeled samples. This paper considers active learning for regression (ALR) problems. Three essential criteria – informativeness, representativeness, and diversity – have been proposed for ALR. However, very few approaches in the literature have considered all three of them simultaneously. We propose three new ALR approaches, with different strategies for integrating the three criteria. Extensive experiments on 12 datasets in various domains demonstrated their effectiveness. Copyright © 2020, The Authors. All rights reserved.

关键词： Regression analysis

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