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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yu Han Ziwei Long Yanting Zhang Jin Wu Zhijun Fang Rui Fan School of Computer Science and Technology Donghua University Shanghai P. R. China Shanghai Research Institute for Intelligent Autonomous Systems the State Key Laboratory of Intelligent Autonomous Systems and Frontiers Science Center for Intelligent Autonomous Systems Machine Intelligence & Autonomous Systems (MIAS) Group the College of Electronics & Information Engineering Tongji University Shanghai P. R. China Department of Electronics and Computer Engineering The Hong Kong University of Science and Technology P. R. China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Correspondence matching plays a crucial role in numerous robotics applications. In comparison to conventional hand-crafted methods and recent data-driven approaches, there is significant interest in plug-and-play algorithms that make full use of pre-trained backbone networks for multi-scale feature extraction and leverage hierarchical refinement strategies to generate matched correspondences. The primary focus of this paper is to address the limitations of deep feature matching (DFM), a state-of-the-art (SoTA) plug-and-play correspondence matching approach. First, we eliminate the pre-defined threshold employed in the hierarchical refinement process of DFM by leveraging a more flexible nearest neighbor search strategy, thereby preventing the exclusion of repetitive yet valid matches during the early stages. Our second technical contribution is the integration of a patch descriptor, which extends the applicability of DFM to accommodate a wide range of backbone networks pre-trained across diverse computer vision tasks, including image classification, semantic segmentation, and stereo matching. Taking into account the practical applicability of our method in real-world robotics applications, we also propose a novel patch descriptor distillation strategy to further reduce the computational complexity of correspondence matching. Extensive experiments conducted on three public datasets demonstrate the superior performance of our proposed method. Specifically, it achieves an overall performance in terms of mean matching accuracy of 0.68, 0.92, and 0.95 with respect to the tolerances of 1, 3, and 5 pixels, respectively, on the HPatches dataset, outperforming all other SoTA algorithms. Our source code, demo video, and supplement are publicly available at ***/GCM.

关键词： Performance evaluation Accuracy Semantic segmentation Source coding Image matching Supervised learning Pose estimation

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Corrugated Silicon Nitride Masks with Enhanced Mechanical Strength for Patterning RGB-Stripe OLED Microdisplays

Corrugated Silicon Nitride Masks with Enhanced Mechanical St...

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International Symposium, Seminar, and Exhibition, Display Week 2024

作者： Dong, Shou-Cheng Yang, Jiye Ting Tam, Bryan Siu Tang, Ching W. State Key Laboratory of Advanced Displays and Optoelectronics Technologies Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong Institute for Advanced Study The Hong Kong University of Science and Technology Hong Kong Co. Ltd Suzhou China Department of Chemical Engineering University of Rochester RochesterNY United States

Corrugated silicon nitride masks (SiNMs) with improved mechanical strength are developed for patterning OLED microdisplays. The corrugations in the nitride membrane significantly increase the rigidity of the mask and reduce sagging, enabling 3000-ppi slot apertures for patterning RGB-stripe pixel layouts that are normally not achievable by fine metal masks. © 2024, John Wiley and Sons Inc. All rights reserved.

关键词： Silicon nitride

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Quantization Tracking Control Based on Disturbance Observer for the Unmanned Aerial Vehicles

Quantization Tracking Control Based on Disturbance Observer ...

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2023 International Annual Conference on Complex systems and intelligent science, CSIS-IAC 2023

作者： Chen, Xingru He, Xiuyu Wang, Jingyuan Li, Guang He, Wei School of Intelligence Science and Technology Institute of Artificial Intelligence University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education Beijing100083 China University of Manchester Manchester Department of Electrical and Electronic Engineering LondonM13 9PL United Kingdom

ISBN: (纸本)9798350309003

In this paper, we propose a quantized tracking control scheme for the Unmanned Aerial Vehicles with the external disturbances. A disturbance observer is proposed to handle the disturbances and a commanded filter backstepping technique is adopted to reduce the computational complexity. The error compensation signals are used to reduce the influence of filtering errors. The hysteresis uniform switching bounded quantization mechanism is introduced in the control channel to reduce the data transmission burden and resource usage as well. Finally, the effectiveness of the proposed method is verified by stability proof and numerical simulation. © 2023 IEEE.

关键词： Error compensation

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NcoVis: A Visual Analysis Framework for Exploring Academic Collaboration Networks under New Collaborative Relationships 25

NcoVis: A Visual Analysis Framework for Exploring Academic C...

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25th IEEE International Conference on computer Supported Cooperative Work in Design, CSCWD 2022

作者： Yu, Ye Wu, Yao Liang, Xi Ma, Cheng Lu, Qiang Key Laboratory of Knowledge Engineering with Big Data Hefei University of Technology Ministry of Education Hefei China School of Computer Science and Information Hefei University of Technology Hefei China Intelligent Interconnected Systems Laboratory of Anhui Province Hefei University of Technology Hefei China

ISBN: (纸本)9781665405270

Academic collaboration has become one of the topics of large-scale social network analysis. The information extracted from academic collaboration also shows the contextual value in combination with other data. For academic collaborative social networks with intricate collaborative relationships, previous research methods mainly focused on network structure and community discovery, lacking in mining the characteristics of relationships in collaborative networks. There were some limitations in the research perspective. In this work, we propose a collaborative relationship representation method that is more suitable for academic collaborative social networks. It marks the attribute characteristics of nodes in collaborative relationships and highlights collaborative relationships in visualization. By adopting this new representation of collaborative relationships, we designed a visual analysis framework NcoVis, to visualize academic collaborative social networks. We further visually analyze the link relationship groups guided by nodes, and explore the potential representation of the structure and attribute characteristics of link relationships, so that analysts can explore the theme and structural change characteristics of link relationships, communities and the whole network in collaborative social networks. To prove the proposed framework, we conducted a case study on the academic collaboration literature data set, and analyzed the questionnaire with Likert scale through the user evaluation experiment, which verified the effectiveness of our method and the practicability of NcoVis. © 2022 IEEE.

关键词： Visualization

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Development of Autonomous Underwater Robot for Navigation through Narrow Passages

Development of Autonomous Underwater Robot for Navigation th...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Luo, Yang Zhu, Xiyu Zhou, Yuchuan Li, You Xu, Zhihui Wei, Yan Ke, Wende Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China

ISBN: (纸本)9781665481090

Autonomous Underwater Vehicle (AUV), also called autonomous underwater robot, refers to an underwater robot that can independently complete tasks such as autonomous navigation, autonomous obstacle avoidance, and autonomous operation without human intervention. In some complex and narrow detection scenarios, autonomous underwater robots need to have a small volume, a high level of autonomy, and good maneuverability. Here, we design a miniature autonomous underwater robot driven by propellers, which integrates a high-performance processor, camera module, high-precision inertial measurement unit (IMU), etc. The attitude and position information of the robot is obtained in real-time through the IMU, and the processor controls the motion state of the six propellers, achieving the motion in six degrees of freedom in space. The highly integrated design ensures the maximum length of the whole machine within 15 cm, the 3-way PID controller design ensures an efficient and stable attitude control, and the high-performance processor provides more possibilities for target tracking and recognition. The developed AUV in this study shows superior navigation performance through narrow passages. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Tumor state-Space Network for High and Low Grade Glioma Classification 17

Tumor State-Space Network for High and Low Grade Glioma Clas...

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17th IEEE International Conference on Signal Processing, ICSP 2024

作者： Chen, Qijian Wang, Lihui Deng, Zeyu Wang, Li Ye, Chen Zhu, YueMin Guizhou University Engineering Research Center of Text Computing Ministry of Education Key Laboratory of Intelligent Medical Image Analysis and Precise Diagnosis of Guizhou Province State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang China University Lyon Insa Lyon Cnrs Inserm Irp Metislab Creatis UMR5220 U1206 Lyon69621 France

ISBN: (纸本)9798350387384

Accurately predicting the grade of gliomas is crucial for choosing right treatment plans. While current methods using radiomics and deep learning can predict glioma grades effectively using magnetic resonance imaging (MRI), they overlook dynamic changes in the tumor and its neighboring areas. To address this issue, we propose a tumor state-space network (TSSNet), which fully exploits changes in the tumor region and its surroundings through dynamical updating strategy. The experimental results demonstrated that TSSNet achieves 90.32% accuracy and 93.55% area under the curve (AUC) for the prediction of high-grade and low-grade gliomas, respectively, which are 2.4% and 2.5% higher than the best state-of-the-art deep learning models. Moreover, the proposed state-space module can effectively enhance prediction performance, which is advantageous for personalized glioma treatment. © 2024 IEEE.

关键词： Image enhancement

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PHI: Bridging Domain Shift in Long-Term Action Quality Assessment via Progressive Hierarchical Instruction

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IEEE Transactions on Image Processing 2025年 34卷 3718-3732页

作者： Zhou, Kanglei Shum, Hubert P. H. Li, Frederick W. B. Zhang, Xinxing Liang, Xiaohui Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing 100191 China Durham University Department of Computer Science Durham DH1 3LE United Kingdom BNRist Center Tsinghua-Bosch Joint ML Center THBI Lab Tsinghua University Department of Computer Science and Technology China Zhongguancun Laboratory Beijing 100190 China

Long-term Action Quality Assessment (AQA) aims to evaluate the quantitative performance of actions in long videos. However, existing methods face challenges due to domain shifts between the pre-trained large-scale action recognition backbones and the specific AQA task, thereby hindering their performance. This arises since fine-tuning resource-intensive backbones on small AQA datasets is impractical. We address this by identifying two levels of domain shift: task-level, regarding differences in task objectives, and feature-level, regarding differences in important features. For feature-level shifts, which are more detrimental, we propose Progressive Hierarchical Instruction (PHI) with two strategies. First, Gap Minimization Flow (GMF) leverages flow matching to progressively learn a fast flow path that reduces the domain gap between initial and desired features across shallow to deep layers. Additionally, a temporally-enhanced attention module captures long-range dependencies essential for AQA. Second, List-wise Contrastive Regularization (LCR) facilitates coarse-to-fine alignment by comprehensively comparing batch pairs to learn fine-grained cues while mitigating domain shift. Integrating these modules, PHI offers an effective solution. Experiments demonstrate that PHI achieves state-of-the-art performance on three representative long-term AQA datasets, proving its superiority in addressing the domain shift for long-term AQA. © 1992-2012 IEEE.

关键词： Action Quality Assessment Domain Shift Flow Matching Long-Term Action Quality Assessment

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Joint Resource Allocation and Data Offloading for Closed-Loop Controls in Satellite-UAV Networks 16

Joint Resource Allocation and Data Offloading for Closed-Loo...

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16th International Conference on Wireless Communications and Signal Processing, WCSP 2024

作者： Lei, Chengleyang Feng, Wei Wei, Peng Chen, Yunfei Ge, Ning Mao, Shiwen Tsinghua University Department of Electronic Engineering Beijing100084 China Tsinghua University State Key Laboratory of Space Network and Communications Beijing100084 China University of Electronic Science and Technology of China National Key Laboratory of Science and Technology on Communications Chengdu611731 China University of Durham Department of Engineering DurhamDH1 3LE United Kingdom Auburn University Department of Electrical and Computer Engineering AuburnAL36849 United States

ISBN: (纸本)9798350390643

To efficiently provide coverage for the machines and robots in remote areas, satellites and unmanned aerial vehicles (UAVs) can be utilized. In such scenarios, UAVs need to integrate different functions to support the control tasks of robots efficiently, while satellites can serve as backhaul to the cloud. To improve the overall performance of the closed-loop control tasks of robots, we jointly optimize the communication and computing resource allocation with data offloading. Specif-ically, we explore the linear quadratic regulator (LQR) cost to measure the control performance and formulate a sum LQR cost minimization problem. An iterative algorithm is proposed to solve the optimization problem. Simulation results are provided to demonstrate the superiority of the proposed scheme. © 2024 IEEE.

关键词： Resource allocation

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An Improved PI Controller for Stiction Compensation of Control Valves in Process Industry

An Improved PI Controller for Stiction Compensation of Contr...

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第43届中国控制会议

作者： Dong Yang Xun Lang Jiande Wu Yumin Lang Lei Xie Hongye Su Department of Electronic Engineering School of Information Yunnan University Yunnan Key Laboratory of Intelligent Systems and Computing Yunnan University State Key Laboratory of Industrial Control Technology Zhejiang University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the process industry, limit cycles are mostly induced by stiction-related nonlinearity in control valves, severely deteriorating control loop performance. Such problem highlights the importance of compensating for oscillations due to valve stiction. To this end, this work introduces an improved PI controller(IPIC) for stiction compensation, which retains the advantages of the traditional PI controller with fewer adjustment parameters. The enhancement involves nonlinear variation of the integral gain based on instantaneous error. Additionally, a differential evolution algorithm is utilized for controller *** to state-of-the-art methods in setpoint tracking, disturbance rejection, and robustness to parameter uncertainties, the proposed approach exhibits superior performance.

关键词： Stiction Limit Cycle Nonlinear PI controller Differential Evolution Algorithm

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Toward parallel intelligence: An interdisciplinary solution for complex systems

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The Innovation 2023年第6期4卷 152-164页

作者： Yong Zhao Zhengqiu Zhu Bin Chen Sihang Qiu Jincai Huang Xin Lu Weiyi Yang Chuan Ai Kuihua Huang Cheng He Yucheng Jin Zhong Liu Fei-Yue Wang College of Systems Engineering National University of Defense TechnologyChangsha 410073China Hunan Institute of Advanced Technology Changsha 410073China Shanghai Institute of Infectious Disease and Biosecurity Shanghai 200032China Institute of Epidemiology Helmholtz Zentrum Minchen-German Research Center for Environmental Health(GmbH)NeuherbergGermany Department of Computer Science Hong Kong Baptist UniversityHong KongChina State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

The growing complexity of real-world systems necessitates interdisciplinary solutions to confront myriad challenges in modeling,analysis,management,and *** meet these demands,the parallel systems method rooted in the artificial systems,computational experiments,and parallel execution(ACP)approach has been *** method cultivates a cycle termed parallel intelligence,which iteratively creates data,acquires knowledge,and refines the actual *** the past two decades,the parallel systems method has continuously woven advanced knowledge and technologies from various disciplines,offering vers atile interdisciplinary solutions for complex systems across diverse *** review explores the origins and fundamental concepts of the parallel systems method,showcasing its accomplishments as a diverse array of parallel technologies and applica-tions while also prognosticating potential *** posit that this method will considerably augment sustainable development while enhancing interdisciplinary communication and cooperation.

关键词： execution artificial offering

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