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SSRN 2024年

作者： Li, Jiajia Lammers, Kyle Yin, Xunyuan Yin, Xiang He, Long Lu, Renfu Li, Zhaojian Department of Electrical and Computer Engineering Michigan State University East LansingMI United States School of Chemical and Biomedical Engineering Nanyang Technological University Singapore Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Department of Agricultural and Biological Engineering Pennsylvania State University United States United States Department of Agriculture Agricultural Research Service East LansingMI United States Department of Mechanical Engineering Michigan State University East LansingMI United States

Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial component for robust identification of fruits to guide robotic manipulation. Despite considerable progress in leveraging deep learning and machine learning techniques for fruit detection, a common shortfall is the inability to swiftly extend the developed models across different orchards and/or various fruit species. Additionally, the limited availability of pertinent data further compounds these challenges. In this work, we introduce MetaFruit, the largest publicly available multi-class fruit dataset, comprising 4,248 images and 248,015 manually labeled instances across diverse U.S. orchards. Furthermore, this study proposes an innovative open-set fruit detection system leveraging advanced Vision Foundation Models (VFMs) for fruit detection that can adeptly identify a wide array of fruit types under varying orchard conditions. This system not only demonstrates remarkable adaptability in learning from minimal data through few-shot learning but also shows the ability to interpret human instructions for subtle detection tasks. The performance of the developed foundation model is comprehensively evaluated using several metrics, which outperforms the existing state-of-the-art algorithms in both our MetaFruit dataset and other open-sourced fruit datasets, thereby setting a new benchmark in the field of agricultural technology and robotic harvesting. The MetaFruit dataset and detection framework are open-sourced to foster future research in vision-based fruit harvesting, marking a significant stride toward addressing the urgent needs of the agricultural sector. © 2024, The Authors. All rights reserved.

关键词： Fruits

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MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis

arXiv

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arXiv 2024年

作者： Liu, Shuhong Deng, Tianchen Zhou, Heng Li, Liuzhuozheng Wang, Hongyu Wang, Danwei Li, Mingrui Department of Information Science and Technology Department of Complexity Science and Engineering The University of Tokyo Tokyo113-8654 Japan Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Mechanical Engineering Columbia University New York10027 United States School of Electrical and Electronic Engineering Nanyang Technological University Singapore Department of Computer Science Dalian University of Technology Dalian116024 China

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments, characterized by substantial holes due to unobserved geometry caused by obstacles or limited view angles. To address this challenge, we present Manhattan Gaussian SLAM, an RGB-D system that leverages the Manhattan World hypothesis to enhance geometric accuracy and completeness. By seamlessly integrating fused line segments derived from structured scenes, our method ensures robust tracking in textureless indoor areas. Moreover, The extracted lines and planar surface assumption allow strategic interpolation of new Gaussians in regions of missing geometry, enabling efficient scene completion. Extensive experiments conducted on both synthetic and real-world scenes demonstrate that these advancements enable our method to achieve state-of-the-art performance, marking a substantial improvement in the capabilities of Gaussian SLAM systems. © 2024, CC BY.

关键词： Gaussian distribution

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Decentralized Optimal control for Linear Stochastic systems with control Signals subject to Unknown Noises

Decentralized Optimal Control for Linear Stochastic Systems ...

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International Conference on control and Automation (ICCA)

作者： Zhaorong Zhang Juanjuan Xu Minyue Fu Xun Li School of Computer Science and Technology Shandong University Qingdao China School of Control Science and Engineering Shandong University Jinan China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Department of Applied Mathematics the Hong Kong Polytechnic University Hong Kong SAR China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Decentralized strategies have been extensively applied to LQ optimal control problems, whereas, stochastic systems with unknown random parameters have not been comprehensively studied. In this paper, we consider a class of stochastic systems with a decentralized configuration consisting of multiple controllers which have access to Gaussian noises with unknown statistical information. The stabilizing and optimal control strategies are acquired by designing a novel stochastic approximation algorithm recursively evaluating the zero points of certain matrix equations, which is confirmed to be equivalent with solving the corresponding Riccati equations. The proof of convergence and boundness of the proposed algorithm is presented.

关键词： Q-learning Automation Stochastic systems Gaussian noise Riccati equations Optimal control Approximation algorithms

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COMPUTATIONAL FLUID-STRUCTURE INTERACTION FRAMEWORK FOR SIMULATING CHARACTERISTIC DEFORMATIONS IN INSECT FLAPPING WINGS 9

COMPUTATIONAL FLUID-STRUCTURE INTERACTION FRAMEWORK FOR SIMU...

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9th International Conference on Computational Methods for Coupled Problems in Science and engineering, COUPLED PROBLEMS 2021

作者： Onishi, Minato Ishihara, Daisuke Department of Computer Science and System Engineering Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan Department of Intelligent and Control Systems Kyushu Institute of Technology Kyushu Institute of Technology 680-4 Kawazu Iizuka Fukuoka820-8502 Japan

In this study, a computational fluid-structure interaction (FSI) framework for characteristic deformations in insect's wings is proposed. The proposed framework consists of a pixel wing model using a structured shell finite element mesh, a projection method for the monolithic FSI monolithic equations using an algebraic splitting, and the FSI dynamic similarity law to measure dynamic similarity between model's and actual insect's flights. It is shown that the proposed framework can directly simulate passive feathering and cambering in insect's wings caused by the FSI, whose magnitudes are very close to those of actual insects. © 2021 9th International Conference on Computational Methods for Coupled Problems in Science and engineering, COUPLED PROBLEMS 2021. All rights reserved.

关键词： Fluid structure interaction

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Language-Queried Target Sound Extraction Without Parallel Training Data

arXiv

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arXiv 2024年

作者： Ma, Hao Peng, Zhiyuan Li, Xu Li, Yukai Shao, Mingjie Kong, Qiuqiang Liu, Ju School of Information Science and Engineering Shandong University Qingdao China Department of Computer Science North Carolina State University NC United States ARC Lab Tencent PCG China Key Laboratory of System and Control AMSS Chinese Academy of Sciences Beijing China The Chinese University of Hong Kong Hong Kong

Language-queried target sound extraction (TSE) aims to extract specific sounds from mixtures based on language queries. Traditional fully-supervised training schemes require extensively annotated parallel audio-text data, which are labor-intensive. We introduce a parallel-data-free training scheme, requiring only unlabelled audio clips for TSE model training by utilizing the contrastive language-audio pre-trained model (CLAP). In a vanilla parallel-data-free training stage, target audio is encoded using the pre-trained CLAP audio encoder to form a condition embedding, while during testing, user language queries are encoded by CLAP text encoder as the condition embedding. This vanilla approach assumes perfect alignment between text and audio embeddings, which is unrealistic. Two major challenges arise from training-testing mismatch: the persistent modality gap between text and audio and the risk of overfitting due to the exposure of rich acoustic details in target audio embedding during training. To address this, we propose a retrieval-augmented strategy. Specifically, we create an embedding cache using audio captions generated by a large language model (LLM). During training, target audio embeddings retrieve text embeddings from this cache to use as condition embeddings, ensuring consistent modalities between training and testing and eliminating information leakage. Extensive experiment results show that our retrieval-augmented approach achieves consistent and notable performance improvements over existing state-of-the-art with better generalizability. © 2024, CC BY.

关键词： Information leakage

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LDGCN: An Edge-End Lightweight Dual GCN Based on Single-Channel EEG for Driver Drowsiness Monitoring

arXiv

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arXiv 2024年

作者： Huang, Jingwei Wang, Chuansheng Huang, Jiayan Fan, Haoyi Grau, Antoni Zhang, Fuquan The College of Computer and Big Data Fuzhou University Fuzhou China The Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain The New Engineering Industry College Putian University Putian China School of Computer and Artificial Intelligence Zhengzhou University China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of Computer and Control Engineering Minjiang University Fuzhou China Key Laboratory of Sichuan Province Sichuan Conservatory of Music Chengdu China Fuzhou Technology Innovation Center of Intelligent Manufacturing information System Minjiang University Fuzhou China Fujian Polytechnic Normal University Fujian Province University Fuzhou China

Driver drowsiness electroencephalography (EEG) signal monitoring can timely alert drivers of their drowsiness status, thereby reducing the probability of traffic accidents. Graph convolutional networks (GCNs) have shown significant advancements in processing the non-stationary, time-varying, and non-Euclidean nature of EEG signals. However, the existing single-channel EEG adjacency graph construction process lacks interpretability, which hinders the ability of GCNs to effectively extract adjacency graph features, thus affecting the performance of drowsiness monitoring. To address this issue, we propose an edge-end lightweight dual graph convolutional network (LDGCN). Specifically, we are the first to incorporate neurophysiological knowledge to design a Baseline Drowsiness Status Adjacency Graph (BDSAG), which characterizes driver drowsiness status. Additionally, to express more features within limited EEG data, we introduce the Augmented Graph-level Module (AGM). This module captures global and local information at the graph level, ensuring that BDSAG features remain intact while enhancing effective feature expression capability. Furthermore, to deploy our method on the fourth-generation Raspberry Pi, we utilize Adaptive Pruning Optimization (APO) on both channels and neurons, reducing inference latency by almost half. Experiments on benchmark datasets demonstrate that LDGCN offers the best trade-off between monitoring performance and hardware resource utilization compared to existing state-of-the-art algorithms. All our source code can be found at https://***/BryantDom/Driver-Drowsiness-Monitoring. Copyright © 2024, The Authors. All rights reserved.

关键词： Electroencephalography

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Cooperative control Strategy for Virtual Inertia Based on Fuzzy control

Cooperative Control Strategy for Virtual Inertia Based on Fu...

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IEEE International Conference on control Science and systems engineering (CCSSE)

作者： Zhimin Gao Yongji Cao Hengxu Zhang Hao Qin Xiaoning Zhang Changgang Li Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Shandong University Jinan China Department of Electrical Engineering Technical University of Denmark Kgs. Lyngby Denmark School of Control and Computer Engineering North China Electric Power University Beijing China

The large-scale integration of renewable energies brings about low inertia characteristics to the power system, and the frequency security faces greater challenges. The existing inertia research lacks the synergy between different types of inertia sources and different control methods, and the inertia response capability of power system still can be improved. In this paper, with the aim of proposing a virtual inertia cooperative control strategy for the power system with high penetration of renewable energies, we analyze the virtual inertia mechanisms of wind power, PV units and energy storage system (ESS), and propose control methods for wind power and PV units to participate in inertia response. Considering the reason of limited inertia response capability of renewable energy units, the fuzzy control is used to make the ESS participate in inertia compensation to improve the frequency response capability. Finally, case study is carried out to verified the effectiveness of the proposed control strategy.

关键词： Renewable energy sources Fuzzy control Rotors Wind power generation Power system stability Synchronization Security

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Quantitative Inertia Estimation Method for Wind Farm Based on AFF-RLS

Quantitative Inertia Estimation Method for Wind Farm Based o...

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IEEE International Conference on control Science and systems engineering (CCSSE)

作者： Hao Qin Yongji Cao Hengxu Zhang Zhimin Gao Xiaoning Zhang Changgang Li Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Shandong University Jinan China Department of Electrical Engineering Technical University of Denmark Kgs. Lyngby Denmark School of Control and Computer Engineering North China Electric Power University Beijing China

In order to guarantee the frequency security and stability of the power system with high proportional of wind generation, virtual inertia control techniques are gradually being promoted and applied. However, there is still a lack of methods and techniques to accurately estimate the equivalent virtual inertia of wind farms in real time, which makes it difficult to quantitatively evaluate the effect of virtual inertia control and to dynamically monitor the inertia level of power systems. Therefore, in this paper, an AR model with eXogenous input is applied to the time-varying characteristics of the virtual inertia of wind farm, and a recursive least squares identification algorithm based on a fuzzy control algorithm with an adaptive forgetting factor is proposed to estimate the virtual inertia of wind farms online. The proposed identification model and solution algorithm have superior tracking ability and good convergence. All that is required is to obtain perturbation data on the frequency and active power of the point of common coupling from the phasor measurement unit. A case study is carried out to verify the effectiveness of the proposed method.

关键词： Adaptation models Heuristic algorithms Estimation Wind farms Power system stability Wind power generation Stability analysis

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Unlocking the Secrets Behind Advanced Artificial Intelligence Language Models in Deidentifying Chinese-English Mixed Clinical Text: Development and Validation Study

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Journal of Medical Internet Research 2024年第1期26卷 e48443页

作者： Lee, You-Qian Chen, Ching-Tai Chen, Chien-Chang Lee, Chung-Hong Chen, Peitsz Wu, Chi-Shin Dai, Hong-Jie Dialogue System Technical Department Asustek Computer Inc Taipei Taiwan Intelligent System Laboratory Department of Electrical Engineering College of Electrical Engineering and Computer Science National Kaohsiung University of Science and Technology Kaohsiung Taiwan Department of Bioinformatics and Medical Engineering Asia University Taichung Taiwan Center for Precision Health Research Asia University Taichung Taiwan Electromagnetic Sensing Control and AI Computing System Laboratory Department of Electrical Engineering College of Electrical Engineering and Computer Science National Kaohsiung University of Science and Technology Kaohsiung Taiwan Knowledge Discovery and Data Mining Lab Department of Electrical Engineering College of Electrical Engineering and Computer Science National Kaohsiung University of Science and Technology Kaohsiung Taiwan Department of Chemical Engineering Feng Chia University Taichung Taiwan National Center for Geriatrics and Welfare Research National Health Research Institutes Zhunan Taiwan National Institute of Cancer Research National Health Research Institutes Tainan Taiwan School of Post-Baccalaureate Medicine College of Medicine Kaohsiung Medical University Kaohsiung Taiwan Center for Big Data Research Kaohsiung Medical University Kaohsiung Taiwan

Background: The widespread use of electronic health records in the clinical and biomedical fields makes the removal of protected health information (PHI) essential to maintain privacy. However, a significant portion of information is recorded in unstructured textual forms, posing a challenge for deidentification. In multilingual countries, medical records could be written in a mixture of more than one language, referred to as code mixing. Most current clinical natural language processing techniques are designed for monolingual text, and there is a need to address the deidentification of code-mixed text. Objective: The aim of this study was to investigate the effectiveness and underlying mechanism of fine-tuned pretrained language models (PLMs) in identifying PHI in the code-mixed context. Additionally, we aimed to evaluate the potential of prompting large language models (LLMs) for recognizing PHI in a zero-shot manner. Methods: We compiled the first clinical code-mixed deidentification data set consisting of text written in Chinese and English. We explored the effectiveness of fine-tuned PLMs for recognizing PHI in code-mixed content, with a focus on whether PLMs exploit naming regularity and mention coverage to achieve superior performance, by probing the developed models’ outputs to examine their decision-making process. Furthermore, we investigated the potential of prompt-based in-context learning of LLMs for recognizing PHI in code-mixed text. Results: The developed methods were evaluated on a code-mixed deidentification corpus of 1700 discharge summaries. We observed that different PHI types had preferences in their occurrences within the different types of language-mixed sentences, and PLMs could effectively recognize PHI by exploiting the learned name regularity. However, the models may exhibit suboptimal results when regularity is weak or mentions contain unknown words that the representations cannot generate well. We also found that the availability of cod

关键词： ChatGPT code mixing deidentification electronic health record large language model pretrained language model

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Multi-kernel Correntropy-based Orientation Estimation of IMUs: Gradient Descent Methods

arXiv

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arXiv 2023年

作者： Li, Shilei Li, Lijing Shi, Dawei Lou, Yunjiang Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Information and Control Engineering China University of Mining and Technology China The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China

This paper presents two computationally efficient algorithms for the orientation estimation of inertial measurement units (IMUs): the multi-kernel correntropy-based gradient descent (CGD) and the multi-kernel correntropy-based decoupled orientation estimation (CDOE). Traditional methods, such as gradient descent (GD) and decoupled orientation estimation (DOE), rely on the least square (LS) criterion in algorithm derivation, making them vulnerable to external acceleration and magnetic interference. To address this issue, we first demonstrate that the multi-kernel correntropy loss (MKCL) is an optimal objective function under the maximum likelihood estimation (MLE) framework when the noise follows a specific type of heavy-tailed distribution. Then, we provide some important properties of the MKCL as a cost function. By replacing the LS cost with the MKCL, we develop the CGD and CDOE algorithms. We evaluate the effectiveness of our proposed methods by comparing them with existing algorithms in various situations. Experimental results indicate that our proposed methods (CGD and CDOE) outperform their conventional counterparts (GD and DOE), especially when faced with external acceleration and magnetic disturbances. Furthermore, the new algorithms demonstrate significantly lower computational complexity than Kalman filter-based approaches, making them suitable for applications with low-cost microprocessors. Copyright © 2023, The Authors. All rights reserved.

关键词： Maximum likelihood estimation

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