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arXiv 2023年

作者： Li, Tianhao Zhang, Ruichang Liu, Zhixin Zou, Zhuo Hu, Xiaoming Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100190 China Fudan University Shanghai200433 China Optimization and Systems Theory KTH Royal Institute of Technology Stockholm10044 Sweden

Turing's model has been widely used to explain how simple, uniform structures can give rise to complex, patterned structures during the development of organisms. However, it is very hard to establish rigorous theoretical results for the dynamic evolution behavior of Turing's model since it is described by nonlinear partial differential equations. We focus on controllability of Turing's model by linearization and spatial discretization. This linearized model is a networked system whose agents are second order linear systems and these agents interact with each other by Laplacian dynamics on a graph. A control signal can be added to agents of choice. Under mild conditions on the parameters of the linearized Turing's model, we prove the equivalence between controllability of the linearized Turing's model and controllability of a Laplace dynamic system with agents of first order dynamics. When the graph is a grid graph or a cylinder grid graph, we then give precisely the minimal number of control nodes and a corresponding control node set such that the Laplace dynamic systems on these graphs with agents of first order dynamics are controllable. Copyright © 2023, The Authors. All rights reserved.

关键词： controllability

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Inverse Design of a Nurbs-Based Chiral Metamaterial Via Machine Learning for Programmable Mechanical Deformation

SSRN

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SSRN 2023年

作者： Hou, Xiuhui Zhao, Wenhao Zhang, Kai Deng, Zichen School of Mechanics Civil Engineering and Architecture Northwestern Polytechnical University Xi’an710072 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi’an710072 China School of Aeronautics Northwestern Polytechnical University Xi’an710072 China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial Equipment Dalian University of Technology Liaoning Dalian116024 China

Chiral metamaterials are manmade structures with extraordinary mechanical properties derived from their special geometrical design instead of the chemical composition. To make the mechanical deformation programmable, the Non-Uniform Rational B-Spline (NURBS) curves are taken to replace the traditional ligament boundaries of the chiral structure. The Neural Networks are innovatively inserted into the calculation of mechanical properties of the chiral structure instead of finite element methods to improve computational efficiency. For the general problem of structure configuration determination with specified mechanical properties, such as Young’s modulus, Poisson’s ratio or deformation, an inverse design method using the Neural Network-based surrogate model is proposed to build the relationship between local geometric configuration and overall deformation. To satisfy some more complex deformation requirements, a non-homogeneous inverse design method is proposed and verified through simulation and experiments. Numerical and test results reveal the high computational efficiency and accuracy of the proposed method in the device design of chiral metamaterials. © 2023, The Authors. All rights reserved.

关键词： Numerical methods

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Pedestrian Detection for Autonomous Vehicles Using Virtual-to-Real Augmentation

Pedestrian Detection for Autonomous Vehicles Using Virtual-t...

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2022 Chinese Automation Congress, CAC 2022

作者： Lu, Bo Huang, Min Li, Xi Nie, Yunhao Miao, Qinghai Lv, Yisheng School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Institute of Automation Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665465335

Annotated data are essential to the success of training deep neural models for autonomous driving. Practically, it is both expensive and time consuming to collect and annotate plenty of data driving cross the city. It is even harder to cover the corner cases involving rare pedestrian poses with occlusions. To tackle this problem, we propose a data augmentation method for pedestrian detection. First, we take a SMPL model to generate pedestrians with a variety of poses and textures. Second, we insert the rendered pedestrians into images with real traffic background according to vanishing point. Occlusions can also be set easily by taking use of segmentation annotations of original real dataset. We evaluated the effectiveness of the generated synthetic dataset using multiple detectors. Results of three experiments shown that detectors trained with mixture of synthetic and real data outperform those trained on only real datasets. © 2022 IEEE.

关键词： Computer vision

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Higher-order interactions induce stepwise explosive phase transitions

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Physical Review E 2025年第2期111卷 024303-024303页

作者： Xueqi Li Palash Kumar Pal Youming Lei Dibakar Ghosh Michael Small School of Mathematics and Statistics Northwestern Polytechnical University Xi'an 710072 China Physics and Applied Mathematics Unit Indian Statistical Institute 203B. T. Road Kolkata 700108 India Ministry of Industry and Information Technology Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'an 710072 China Complex Systems Group Department of Mathematics and Statistics The University of Western Australia Crawley WA 6009 Australia Mineral Resources CSIRO Kensington WA 6151 Australia

In recent studies, it has been established that higher-order interactions in coupled oscillators can induce a process from continuous to explosive phase transition. In this study, we identify a phase transition, termed the stepwise explosive phase transition, characterized by the emergence of multiple critical phase plateaus in a globally frequency-weighted coupled pendulum model. This transition bridges the continuous and explosive phase transitions, arising from a delicate balance between attractive higher-order interactions and repulsive pairwise interactions. Specifically, the stepwise explosive phase transition occurs when the higher-order coupling is moderate, neither large nor small, while the pairwise interactions remain repulsive. Our analysis shows that stronger attractive higher-order interactions necessitate weaker repulsive pairwise interactions, leading to partial frequency locking among oscillators and triggering the stepwise transition. We construct an analytical framework using self-consistent equations to provide an approximation of the steady-state behavior. This study uncovers an alternative pathway to the desynchronization, and it provides additional insights into the phase transitions in coupled dynamical networks.

关键词： Pendulums

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The Shadow of Fraud: The Emerging Danger of AI-powered Social Engineering and its Possible Cure

arXiv

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arXiv 2024年

作者： Yu, Jingru Yu, Yi Wang, Xuhong Lin, Yilun Yang, Manzhi Qiao, Yu Wang, Fei-Yue Shanghai Artificial Intelligence Laboratory Shanghai200240 China The Macau Institute of Systems Engineering Macau University of Science and Technology China Eversec Technology Company Ltd. Beijing100080 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Social engineering (SE) attacks remain a significant threat to both individuals and organizations. The advancement of Artificial Intelligence (AI), including diffusion models and large language models (LLMs), has potentially intensified these threats by enabling more personalized and convincing attacks. This survey paper categorizes SE attack mechanisms, analyzes their evolution, and explores methods for measuring these threats. It highlights the challenges in raising awareness about the risks of AI-enhanced SE attacks and offers insights into developing proactive and adaptable defense strategies. Additionally, we introduce a categorization of the evolving nature of AI-powered social engineering attacks into"3E phases": Enlarging, wherein the magnitude of attacks expands through the leverage of digital media;Enriching, introducing novel attack vectors and techniques;and Emerging, signifying the advent of novel threats and methods. Moreover, we emphasize the necessity for a robust framework to assess the risk of AI-powered SE attacks. By identifying and addressing gaps in existing research, we aim to guide future studies and encourage the development of more effective defenses against the growing threat of AI-powered social engineering. Copyright © 2024, The Authors. All rights reserved.

关键词： Artificial intelligence

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Stress Detection Using Wearable Devices based on Transfer Learning

Stress Detection Using Wearable Devices based on Transfer Le...

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2021 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2021

作者： Wu, Jinting Zhang, Yujia Zhao, Xiaoguang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665401265

Excessive stress will have a negative impact on people's physical and mental health, especially for some special occupations. Because stressful stimuli can trigger a variety of physiological responses, analyzing physiological signals collected by wearable devices has become an important way to evaluate the stress state in recent years. However, the number of available subjects of a target group may be small, and collecting a large amount of data when the target group changes is costly and time-consuming. To solve this problem, we propose a stress detection framework for a small target group which uses adversarial transfer learning method to learn shared knowledge about stress between different groups. In order to verify the performance of the framework, we establish a dataset consisting of 264 ordinary college students and 32 police school students, aiming to evaluate the acute stress state of police school students under video stimuli for psychological training in the future. Comprehensive experiments show that our algorithm has achieved a significant improvement in the target group compared with the baseline methods. © 2021 IEEE.

关键词： Physiology

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Omnidirectional Drift control of an Underwater Biomimetic Vehicle-Manipulator System via Reinforcement Learning 10

Omnidirectional Drift Control of an Underwater Biomimetic Ve...

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10th IEEE Data Driven control and Learning systems Conference, DDCLS 2021

作者： Ma, Ruichen Wang, Yu Wang, Rui Wang, Shuo University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781665424233

This paper proposes an omnidirectional drift control on an underwater biomimetic vehicle-manipulator system (UB-VMS). The UBVMS has two biomimetic propellers, they obtain propulsive force by actuating their undulating fins. A configuration of the system, the dynamics of the UBVMS and the kinematics of the fins are given respectively. Then the control problem is designed as a Markov decision process (MDP). A reinforcement learning method based on the twin delayed deep deterministic policy gradient (TD3) is proposed for this MDP. A control policy is well trained by the reinforcement learning method and tested in eight different simulations. An analysis of the simulation results is also given. © 2021 IEEE.

关键词： Reinforcement learning

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A Parallel Algorithm for Solving General Colored Traveling Salesman Problems 36

A Parallel Algorithm for Solving General Colored Traveling S...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Ding, Penghui Xu, Xiangping Li, Jun Ministry of Education Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518057 China

ISBN: (纸本)9781665437127

A colored traveling salesman problem (CTSP) is a generalization of the well-known multiple traveling salesman problem. It utilizes colors to differentiate the accessibility of its cities to ward its salesmen. All the existing algorithms for solving CTSP are serial ones. This paper presents for the first time a parallel algorithm framework for solving general CTSP. Then, an improved variable neighborhood search algorithm is proposed by using this algorithm framework. Finally, extensive simulations are conducted in various test cases. The results show that the algorithm proposed is superior to the compared serial algorithms in terms of convergence and solution quality. © 2021 IEEE.

关键词： Traveling salesman problem

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An Autoencoder with a Memory Module for Video Anomaly Detection 36

An Autoencoder with a Memory Module for Video Anomaly Detect...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Tang, Wei Feng, Yunjian Li, Jun Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518057 China

ISBN: (纸本)9781665437127

With the rise of deep convolutional neural networks (CNNs), considerable attention has been paid to video anomaly detection (VAD). Autoencoders are a popular type of framework for VAD, and many existing VAD methods are based on it. However, these methods take an assumption of closed-world VAD, i.e., do not comprehensively consider the diversity of normal patterns. Besides, a competent CNN allows the autoencoder to reconstruct or predict abnormal video frames proficiently, resulting in missing anomalies. To mitigate these drawbacks, we propose an Autoencoder with a Memory Module (AMM) to realize video anomaly detection by predicting video frames. AMM consists of three modules: An encoder, a decoder, and a memory module. First, the consecutive frames are fed into the encoder to yield latent spatial features. Then, the features are utilized to retrieve corresponding memory items in the memory module to generate memory mapping features. Finally, the memory mapping features are adopted in the decoder for predicting the next frame. To match the queries against memory items accurately, we propose a memory triplet loss, which takes into account both size and angle discrepancies between the queries and memory items. At the training stage, AMM utilizes the memory triplet loss, a prediction loss, and multi-scale structure similarity measure. Moreover, the modes of retrieving and updating memory items are ameliorated by a scaled dot product model, which can alleviate vanishing gradient problems to a certain extent. Extensive experiments are conducted on three benchmark public datasets, and the results demonstrate the superior performance of AMM. © 2021 IEEE.

关键词： Forecasting

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot

Gait Planning and Motion Control Based on Vrep Simulation fo...

引用

WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Linqi Zhou Zhihua Chen Jun Liu Zhi Liu Yumeng Chen Liting Zhang key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology Nanchang Hangkong University Nanchang China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot’s foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper.

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