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arXiv 2021年

作者： van Meer, Max Poot, Maurice Portegies, Jim Oomen, Tom The Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands The Delft Center for Systems and Control Delft University of Technology Delft Netherlands The Applied Analysis Group Department of Mathematics and Computer Science Eindhoven University of Technology Netherlands

Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using input-output data, which directly delivers feedforward signals for a-priori unknown tasks. To this end, inverse systems are regarded as noncausal nonlinear finite impulse response (NFIR) systems, and modeled as a Gaussian Process with a stationary kernel function that imposes properties such as smoothness and periodicity. The approach is validated experimentally on a consumer printer with friction and shown to lead to improved tracking performance with respect to linear feedforward. Copyright © 2021, The Authors. All rights reserved.

关键词： Friction

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Multi-Loss Function for Distance-to-collision Estimation

Multi-Loss Function for Distance-to-collision Estimation

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International Conference on Informative and Cybernetics for Computational Social Systems (ICCSS)

作者： Xiangzhu Zhang Lijia Zhang Ding Xu Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong South China University of Technology Guangzhou China School of Computer Science and Technology Guangdong University of Technology Guangzhou China

ISBN: (纸本)9781665402460

Estimation of the drone’s distance-to-collision is the key to the indoor autonomous obstacle avoidance and navigation of monocular UAVs. At present, the distance-to-collision model mainly uses regression loss or ordinal regression for training Regression loss utilizes the continuity of distance, and ordinal regression loss utilizes the order of distance. To improve the prediction performance of the model, this paper proposes a multi-loss function trained deep learning model based on the linear combination of ordinal regression loss and regression loss. The regression loss can be obtained by adding a distance decoder after the ordinal regression estimation, without changing the original structure of the model. Finally, we test the model performance in public datasets and obtain good results.

关键词： Training Deep learning Navigation Estimation Predictive models Decoding Collision avoidance

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Improving Embedded Knowledge Graph Multi-hop Question Answering by Introducing Relational Chain Reasoning

arXiv

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arXiv 2021年

作者： Jin, Weiqiang Zhao, Biao Yu, Hang Tao, Xi Yin, Ruiping Liu, Guizhong School of Information and Communications Engineering Xi'an Jiaotong University Shaanxi Xi’an710049 China School of Computer Engineering and Science Shanghai University Baoshan Shanghai200444 China Information Faculty of Computer School Beijing University of Technology Chaoyang Beijing100124 China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Beijing100124 China

Knowledge Graph Question Answering (KGQA) aims to answer user-questions from a knowledge graph (KG) by identifying the reasoning relations between topic entity and answer. As a complex branch task of KGQA, multi-hop KGQA requires reasoning over the multi-hop relational chain preserved in KG to arrive at the right answer. Despite recent successes, the existing works on answering multi-hop complex questions still face the following challenges: i) The absence of an explicit relational chain order reflected in user-question stems from a misunderstanding of a user's intentions. ii) Incorrectly capturing relational types on weak supervision of which dataset lacks intermediate reasoning chain annotations due to expensive labeling cost. iii) Failing to consider implicit relations between the topic entity and the answer implied in structured KG because of limited neighborhoods size constraint in subgraph retrieval-based algorithms. To address these issues in multi-hop KGQA, we propose a novel model herein, namely Relational Chain based Embedded KGQA (Rce-KGQA), which simultaneously utilizes the explicit relational chain revealed in natural language question and the implicit relational chain stored in structured KG. Our extensive empirical study on three open-domain benchmarks proves that our method significantly outperforms the state-of-the-art counterparts like GraftNet, PullNet and EmbedKGQA. Comprehensive ablation experiments also verify the effectiveness of our method on the multi-hop KGQA task. We have made our model's source code available at github: https://***/albert-jin/Rce-KGQA. Copyright © 2021, The Authors. All rights reserved.

关键词： Knowledge graph

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Comparing Relaxation Mechanisms in Quantum and Classical Transverse-Field Annealing

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Physical Review Applied 2021年第1期15卷 014029-014029页

作者： Tameem Albash Jeffrey Marshall Department of Electrical and Computer Engineering University of New Mexico Albuquerque New Mexico 87131 USA Department of Physics and Astronomy and Center for Quantum Information and Control CQuIC University of New Mexico Albuquerque New Mexico 87131 USA QuAIL NASA Ames Research Center Moffett Field California 94035 USA USRA Research Institute for Advanced Computer Science Mountain View California 94043 USA

Annealing schedule control provides opportunities to better understand the manner and mechanisms by which putative quantum annealers operate. By appropriately modifying the annealing schedule to include a pause (keeping the Hamiltonian fixed) for a period of time, we show that it is possible to more directly probe the dissipative dynamics of the system at intermediate points along the anneal and examine thermal relaxation rates, for example, by observing the repopulation of the ground state after the minimum spectral gap. We provide a detailed comparison of experiments from a D-Wave device, simulations of the quantum adiabatic master equation, and a classical analogue of quantum annealing, spin-vector Monte Carlo, and we observe qualitative agreement, showing that the characteristic increase in success probability when pausing is not a uniquely quantum phenomena. We find that the relaxation in our system is dominated by a single timescale, which allows us to give a simple condition for when we can expect pausing to improve the time to solution, the relevant metric for classical optimization. Finally, we also explore in simulation the role of temperature whilst pausing as a means to better distinguish quantum and classical models of quantum annealers.

关键词： Adiabatic quantum optimization Open quantum systems & decoherence Quantum information processing Quantum master equation Quantum Monte Carlo Simulated annealing

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Enhanced Subspace Distribution Matching for Fast Visual Domain Adaptation

Enhanced Subspace Distribution Matching for Fast Visual Doma...

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作者： Kang, Qi Yao, Siya Zhou, Mengchu Zhang, Kai Abusorrah, Abdullah Department of Control Science and Engineering Tongji University Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology NewarkNJ United States Department of Electrical and Computer Engineering Faculty of Engineering and Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah21481 Saudi Arabia Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China

In computer vision, when labeled images of the target domain are highly insufficient, it is challenging to build an accurate classifier. Domain adaptation stands for an effective solution to address it by utilizing available and related source domain which has sufficient labeled images, even when there is a substantial difference in properties and distributions of these two domains. Yet, most prior approaches merely reduce subspace conditional or marginal distribution differences between domains but entirely ignoring label dependence (LD) information of source data in subspace. This article proposes a novel approach of domain adaptation, called enhanced subspace distribution matching (ESDM), which makes good use of label information to enhance the distribution matching between the source and target domains in a shared subspace. It reduces both conditional and marginal distributions in a shared subspace during a procedure of kernel principal dimensionality reduction and also preserves source data LD information to the maximum extent, thereby significantly improving cross domain subspace distribution matching. We also provide a learning algorithm with highly affordable computation, which solves the ESDM optimization problem without using time-consuming iterations. Results confirm that it can well outperform several recent domain adaptation methods on image classification tasks in terms of classification accuracy and running time. The results can be used in social cognition, person reidentification, and human-machine interactions. © 2014 IEEE.

关键词： Image classification

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Adaptive AGV fleet management in a dynamically changing production environment

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Procedia Manufacturing 2021年 54卷 148-153页

作者： Júlia Bergmann Dávid Gyulai József Váncza EPIC Center of Excellence in Production Informatics and Control Institute for Computer Science and Control (SZTAKI) Eötvös Loránd Research Network (ELKH) Budapest Hungary Doctoral School of Informatics Eötvos Lóránd University Budapest Hungary Department of Manufacturing Science and Engineering Budapest University of Technology and Economics Budapest Hungary

In the era of smart manufacturing, autonomous mobile robots have become affordable for numerous companies, although the fleet management remains a challenging problem. A novel approach is proposed, supporting the solution of vehicle assignment problem. The method relies on adaptive workstation clustering that considers not only complex environment layout, but also the main characteristics of the material flow. The technique combines network analytical and optimization tools with a greedy algorithm of refinement. The implementation is presented, and the impact of clustering techniques on selected performance metrics are analyzed within a series of experiments, taken from an industrial case study.

关键词： internal logistics AGV network modularity MIQP

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Graph attention layer evolves semantic segmentation for road pothole detection: A benchmark and algorithms

arXiv

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arXiv 2021年

作者： Fan, Rui Wang, Hengli Wang, Yuan Liu, Ming Pitas, Ioannis Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai201804 China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210 China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong SAR Hong Kong Industrial R&d Center SmartMore Shenzhen518000 China School of Informatics University of Thessaloniki Thessaloniki541 24 Greece

Existing road pothole detection approaches can be classified as computer vision-based or machine learning-based. The former approaches typically employ 2-D image analysis/ understanding or 3-D point cloud modeling and segmentation algorithms to detect (i.e., recognize and localize) road potholes from vision sensor data, e.g., RGB images and/or depth/disparity images. The latter approaches generally address road pothole detection using convolutional neural networks (CNNs) in an end-to-end manner. However, road potholes are not necessarily ubiquitous and it is challenging to prepare a large wellannotated dataset for CNN training. In this regard, while computer vision-based methods were the mainstream research trend in the past decade, machine learning-based methods were merely discussed. Recently, we published the first stereo visionbased road pothole detection dataset and a novel disparity transformation algorithm, whereby the damaged and undamaged road areas can be highly distinguished. However, there are no benchmarks currently available for state-of-the-art (SoTA) CNNs trained using either disparity images or transformed disparity images. Therefore, in this paper, we first discuss the SoTA CNNs designed for semantic segmentation and evaluate their performance for road pothole detection with extensive experiments. Additionally, inspired by graph neural network (GNN), we propose a novel CNN layer, referred to as graph attention layer (GAL), which can be easily deployed in any existing CNN to optimize image feature representations for semantic segmentation. Our experiments compare GAL-DeepLabv3+, our best-performing implementation, with nine SoTA CNNs on three modalities of training data: RGB images, disparity images, and transformed disparity images. The experimental results suggest that our proposed GAL-DeepLabv3+ achieves the best overall pothole detection accuracy on all training data modalities. The source code, dataset, and benchmark are publicly available at m

关键词： Landforms

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Biodegradation of Benzo[A]Pyrene By a Marine Chlorella Vulgaris Lh-1 with Heterotrophic Ability

SSRN

引用

SSRN 2023年

作者： Chen, Qingguo Li, Zhenzhen Li, Yijing Liu, Mei Wu, Yingqi Chen, Zhi Zhu, Baikang Zhejiang Provincial Key Laboratory of Petrochemical Pollution Control Zhejiang Ocean University Zhoushan China National & local Joint Engineering Research Center of Harbor Oil & Gas Storage and Transportation Technology Zhejiang Ocean University Zhoushan316022 China School of Marine Science & Technology Zhejiang Ocean University Zhoushan China Department of Building Civil and Environmental Engineering Faculty of Engineering & Computer Sciences Concordia University MontrealQCH3G1M8 Canada

In this study, a microalga, Chlorella vulgaris LH-1, with heterotrophic ability to degrade benzo[a]pyrene (BaP) was explored. The effect of BaP concentration on microalga growth was investigated, and the possible biodegradation mechanism of BaP was proposed. Results showed that 5 mg/L had a significant inhibitory effect on its growth. During heterotrophic cultivation, 20 mg/L BaP inhibited its growth significantly. The expression of functional enzyme genes of LH-1 such as phenol 2-monooxygenase activity, protocatechuate 3,4-dioxygenase activity, catechol 1,2-dioxygenase activity, styrene degradation, and benzoate degradation were upregulated in the process of BaP degradation. The degradation of BaP by this microalga under mixotrophic condition goes through the degradation pathway of phthalic acid, whereas it goes through the degradation pathway of benzoic acid under heterotrophic condition. © 2023, The Authors. All rights reserved.

关键词： Biodegradation

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Target Defense against Sequentially Arriving Intruders

arXiv

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arXiv 2022年

作者： Pourghorban, Arman Dorothy, Michael Shishika, Daigo Von Moll, Alexander Maity, Dipankar The Department of Electrical and Computer Engineering The University of North Carolina CharlotteNC28223 United States The Computational and Information Sciences Directorate Army Research Laboratory APG MD20783 United States The Mechanical Engineering Department George Mason University FairfaxVA22030 United States Control Science Center Air Force Research Laboratory WPAFB OH45433 United States

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. The intruders’ objective is to breach the target boundary without being captured by the defender. As soon as the current intruder breaches the target or gets captured by the defender, the next intruder appears at a random location on a fixed circle surrounding the target. Therefore, the defender’s final location at the end of the current game becomes its initial location for the next game. Thus, the players pick strategies that are advantageous for the current as well as for the future games. Depending on the information available to the players, each game is divided into two phases: partial information and full information phase. Under some assumptions on the sensing and speed capabilities, we analyze the agents’ strategies in both phases. We derive equilibrium strategies for both the players to optimize the capture percentage using the notions of engagement surface and capture circle. We quantify the percentage of capture for both finite and infinite sequences of incoming intruders. © 2022, CC BY.

关键词： Location

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Experimental verification of group non-membership in optical circuits

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Photonics Research 2021年第9期9卷 1745-1751页

作者： KAI SUN ZI-JIAN ZHANG FEI MENG BIN CHENG ZHU CAO JIN-SHI XU MAN-HONG YUNG CHUAN-FENG LI GUANG-CAN GUO CAS Key Laboratory of Quantum Information University of Science and Technology of ChinaHefei 230026China CAS Center for Excellence in Quantum Information and Quantum Physics University of Science and Technology of ChinaHefei 230026China Department of Physics Southern University of Science and TechnologyShenzhen 518055China Department of Computer Science The University of Hong KongPokfulamHong Kong SARChina Centre for Quantum Software and Information Faculty of Engineering and Information TechnologyUniversity of Technology SydneySydneyNSW 2007Australia Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and TechnologyShanghai 200237China Shenzhen Institute for Quantum Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Shenzhen Key Laboratory of Quantum Science and Engineering Southern University of Science and TechnologyShenzhen 518055China

The class quantum Merlin–Arthur(QMA),as the quantum analog of nondeterministic polynomial time,contains the decision problems whose YES instance can be verified efficiently with a quantum *** problem of deciding the group non-membership(GNM)of a group element is conjectured to be a member of *** works on the verification of GNM,which still lacks experimental demonstration,required a quantum circuit with O(n~5)group oracle ***,we provide an efficient way to verify GNM problems,in which each quantum circuit only contains O(1)group of oracle calls,and the number of qubits in each circuit is reduced by *** on this protocol,we then experimentally demonstrate the new verification process with a four-element group in an all-optical *** new protocol is validated experimentally by observing a significant completeness-soundness gap between the probabilities of accepting elements in and outside the *** work efficiently simplifies the verification of GNM and is helpful in constructing more quantum protocols based on the near-term quantum devices.

关键词： quantum element polynomial

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