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arXiv 2024年

作者： Liang, Xudong Ding, Yimiao Yuan, Zihao Jiang, Junqi Xie, Zongling Fei, Peng Sun, Yixuan Gu, Guoying Zhong, Zheng Chen, Feifei Si, Guangwei Gong, Zhefeng School of Science Harbin Institute of Technology Shenzhen518055 China Department of Neurology The Fourth Hospital and School of Brain Science and Brain Medicine Zhejiang University School of Medicine Hangzhou310058 China Liangzhu Laboratory MOE Frontier Science Center for Brain Science and Brain-Machine Integration State Key Laboratory of Brain-Machine Intelligence Zhejiang University 1369 West Wenyi Road Hangzhou311121 China NHC and CAMS Key Laboratory of Medical Neurobiology Zhejiang University Hangzhou310058 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Brain and Cognitive Science Institute of Biophysics Chinese Academy of Sciences 15 Datun Road Beijing100101 China University of Chinese Academy of Sciences 19A Yuquan Road Beijing100049 China Huazhong University of Science and Technology Optical and Electronic Information Wuhan430074 China Zhejiang Lab. Hangzhou311121 China

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we constructed a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics. © 2024, CC BY.

关键词： Pneumatics

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Remote Sensing Inversion for River Turbidity Estimation Based on Noise Injection and Ensemble Learning

Remote Sensing Inversion for River Turbidity Estimation Base...

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Chinese Automation Congress (CAC)

作者： Yazhen Zhou Shuang Shi Hongyan Liu Yonghui Zhang Ke Gu Junfei Qiao Faculty of Information Technology Beijing University of Technology Beijing China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Artificial Intelligence Institute

ISBN: (纸本)9781665426480

Turbidity is one main indicator of quality typically used for monitoring water pollution and water eutrophication. The monitoring technology of river water quality can be divided into contact monitoring technology based on physical sensors and non-contact monitoring technology based on remote sensing satellites. The traditional contact monitoring technology has limited monitoring spatial resolution. As a new technology, the remote sensing monitoring technology of the river can conveniently solve the above-mentioned shortcomings and realize the coverage of the whole river basin. However, due to the scarcity of remote sensing data and the measurement errors of remote sensing satellites themselves, learning-based turbidity measurement methods have weak generalization ability and thus are easily prone to produce large deviations. To effectively address such difficulty, a noise injection method is introduced into a river turbidity measurement model based on ensemble learning. To be specific, we randomly generate many noise sets and add them to the remote sensing data to make it closer to the real application scene, and then adopt the ensemble learning model to estimate river turbidity. Experiments validate that the random noise injection strategy can effectively improve the generalization performance of river turbidity measurement.

关键词： Satellites Water quality Predictive models Water pollution Rivers Pollution measurement Sensors

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Evaluating Image Quality of DIBR-synthesized Views in Texture and Depth Domains

Evaluating Image Quality of DIBR-synthesized Views in Textur...

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Chinese Automation Congress (CAC)

作者： Guangcheng Wang Nan Guo Hongyan Liu Yonghui Zhang Yazhen Zhou Ke Gu Faculty of Information Technology Beijing University of Technology Beijing China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Artificial Intelligence Institute

ISBN: (纸本)9781665426480

Accurately predicting the quality of depth-image-based-rendering (DIBR) synthesized images is of great significance in promoting DIBR techniques. Recently, Many DIBR-synthesized image quality assessment (IQA) algorithms based on quantifying the distortion existed in texture images have been proposed. However, these methods ignore the damage of DIBR algorithms on the depth structure of DIBR-synthesized images and thus fail to evaluate the visual quality of DIBR-synthesized images accurately. To this end, we present a DIBR-synthesized image quality assessment metric with multi-modal information (i.e. integrating texture and depth information), dubbed as MMI. MMI predicts the quality of DIBR-synthesized images by jointly measuring the texture structure and depth structure of the synthesized image. The design principle of our MMI is that the local geometric distortion, introduced by DIBR techniques in the hole-filling process, destroys the texture structure and the depth structure of DIBR-synthesized images. Thus, we can accurately evaluate DIBR-synthesized image quality by a joint representation of texture structure and depth structure. Experiments show that our MMI is better than the competing state-of-the-art IQA algorithms in predicting DIBR-synthesized image quality.

关键词： Image quality Visualization Wavelet domain Image color analysis Fuses Databases Predictive models

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A Practical and High-Performance Nitrogen Dioxide Gas Sensor that Can Be Rapidly Mass-Produced Based on Gallium Nitride Quantum Dots Film

SSRN

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SSRN 2022年

作者： Han, Dan Chen, Yi Li, Donghui Dong, Hailiang Xu, Bingshe Sang, Shengbo He, Xiuli Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Key Laboratory of Interface Science and Engineering in Advanced Materials Taiyuan University of Technology Ministry of Education Taiyuan030024 China State Key Laboratory of Transducer Technology Aerospace Information Research Institute Chinese Academy of Sciences Beijing100190 China Shanxi Research Institute of 6D Artificiat Intelligence Biomedical Science Taiyuan030024 China

Gallium nitride (GaN) has some challenges for gas sensing, such as high detection lower limit (LOD) or controlling the epitaxy of nanostructures. To address these issues, we exclusively designed a device to enhance the gas interaction capabilities of GaN quantum dots (QDs) film fabricated by metal-organic chemical vapor deposition (MOCVD). The GaN QDs film gas sensor exhibited a low LOD (5 ppb) to NO2 at room temperature (RT), which has much superior gas performance than other GaN-based sensors. The results manifest that many ultra-small QDs around 2 nm in diameter are stacked to form QDs of larger size, and confirm the existence of vacancies. The sensor displays a ultra-high electron mobility of 1237.37 cm2 V−1s−1, demonstrate that great shallow donor impurities in GaN QDs film that ionize easily at RT, which is greatly beneficial for gas sensing. The sensing mechanisms were analyzed based on its abundant active sites, ultrahigh carrier mobility, high surface energy and chemical activity, grain boundary barrier and good electrical conductivity. Moreover, the sensor processes high selectivity, repeatability, stability and reusability based on MOCVD technology which can realize precise control of structure, morphology and surface energy level, which is expected to achieve rapid industrialization. © 2022, The Authors. All rights reserved.

关键词： Gallium nitride

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B2e-Cdg: Artifact Removal for Enhanced Optical Coherence Tomography Angiography Using Conditional Guidance Diffusion

SSRN

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SSRN 2024年

作者： Xu, Jing Fu, Suzhong Xing, Jiwei Xue, Linyan Wang, Cheng Tuchin, Valery V. Zhao, Qingliang State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics Organ Transplantation Institute China Institute of Artificial Intelligence Xiamen University Xiamen361102 China State Key Laboratory of Vaccines for Infectious Diseases Xiang An Biomedicine Laboratory School of Public Health Xiamen University Xiamen361102 China Shenzhen518172 China College of Quality and Technical Supervision Hebei University Baoding071002 China School of Informatics Computer Science and Technology Department Xiamen University Xiamen361005 China Institute of Physics and Science Medical Center Saratov State University Saratov410012 Russia Laboratory of Laser Molecular Imaging and Machine Learning Tomsk State University Tomsk634050 Russia Institute of Precision Mechanics and Control FRS "Saratov Scientific Centre of the RAS" Saratov410028 Russia China

Optical Coherence Tomography Angiography (OCTA) is a revolutionary technology widely used to diagnose and manage fundus, skin and cardiovascular diseases. However, unavoidable movements, such as breathing, cause motion artifacts in images, which can significantly degrade image quality, obscure critical vascular details, and reduce the diagnostic reliability of the modality. Although recent advances in learning-based image inpainting methods for OCTA enface images have made notable progress in artifact removal, these methods still require the collection of large amounts of accurately labeled data and the generation of pseudo stripes to create paired training sets. Furthermore, the abundant structural information and flow intensity signals present in OCTA B-scans are nonnegligible. Hence we proposed B-scans to Enface Conditional Diffusion Guidance (B2E-CDG) for translation from signal-void B-scans to available B-scans. We introduce the normal B-scans in a connection manner and the specified reference B-scans in a gradient-based manner as style feature guidance into the diffusion model. Conditional guidance facilitates a more controllable and precise generation process for B-scans flow signal recovery. The requirement for labeled image collection and pseudo stripes is obviated, as the repetitive scanning nature of OCTA naturally results in paired datasets comprising signal-void and normal B-scans. The experimental results demonstrated that B2E-CDG effectively removes artifacts and restores vascular and structural information obscured by artifacts. This work shows superior vascular recovery and artifact removal capabilities in metrics and downstream tasks, enhancing the usability of OCTA in diagnostics. © 2024, The Authors. All rights reserved.

关键词： Optical coherence tomography

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Stealthy False Data Injection Attacks against Extended Kalman Filter Detection in Power Grids

Stealthy False Data Injection Attacks against Extended Kalma...

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

作者： Yifa Liu Wenchao Xue Shuping He Long Cheng State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Key Laboratory of System and Control Academy of Mathematics and System Science Chinese Academy of Sciences Beijing China School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (纸本)9781665402460

The power grid is a kind of national critical infrastructure directly affiliated to human daily life. Because of the vital functions and potentially significant losses, the power grid becomes an excellent target for many malicious attacks. Due to the special nonlinear measurements, many detection methods do not match the grid very well. The extended Kalman filter based detection is one of the few methods suitable for nonlinear system detection, and therefore can be used in power system to spot malicious attacks. However, the reliability and effectiveness of the extended Kalman filter based detection have not been fully studied and adequately guaranteed. By proposing a two-step false data injection attack strategy, this paper gives a stealthy way to inject false data of increasing magnitude into the power grid, which can eventually cause a certain degree of deviation of the grid state without being detected. In the simulation, the method proposed in this paper caused a voltage deviation of more than 25% before being discovered in the power system.

关键词： Power measurement Cyber-physical systems Information filters Power grids Safety Power system reliability Kalman filters

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Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surface Vehicle in Marine Environment

Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surf...

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2020 IEEE International Conference on Information Technology, Big Data and Artificial intelligence, ICIBA 2020

作者： Qi, Xianzhi Fu, Wenxing An, Pei Wu, Bingli Ma, Jie National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100071 China

ISBN: (纸本)9781728152240

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3D LiDAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LiDAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy. © 2020 IEEE.

关键词： Wakes

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Convolution-enhanced Evolving Attention Networks

arXiv

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arXiv 2022年

作者： Wang, Yujing Yang, Yaming Li, Zhuo Bai, Jiangang Zhang, Mingliang Li, Xiangtai Yu, Jing Zhang, Ce Huang, Gao Tong, Yunhai Key Laboratory of Machine Perception MOE School of Intelligence Science and Technology Peking University China Department of Computer Science & Technology Engineering Research Center of Microprocessor & System Peking University China Institute of Information Engineering Chinese Academy of Sciences China ETH Zürich Switzerland The Department of Automation Tsinghua University China

Attention-based neural networks, such as Transformers, have become ubiquitous in numerous applications, including computer vision, natural language processing, and time-series analysis. In all kinds of attention networks, the attention maps are crucial as they encode semantic dependencies between input tokens. However, most existing attention networks perform modeling or reasoning based on representations, wherein the attention maps of different layers are learned separately without explicit interactions. In this paper, we propose a novel and generic evolving attention mechanism, which directly models the evolution of inter-token relationships through a chain of residual convolutional modules. The major motivations are twofold. On the one hand, the attention maps in different layers share transferable knowledge, thus adding a residual connection can facilitate the information flow of inter-token relationships across layers. On the other hand, there is naturally an evolutionary trend among attention maps at different abstraction levels, so it is beneficial to exploit a dedicated convolution-based module to capture this process. Equipped with the proposed mechanism, the convolution-enhanced evolving attention networks achieve superior performance in various applications, including time-series representation, natural language understanding, machine translation, and image classification. Especially on time-series representation tasks, Evolving Attention-enhanced Dilated Convolutional (EA-DC-) Transformer outperforms state-of-the-art models significantly, achieving an average of 17% improvement compared to the best SOTA. To the best of our knowledge, this is the first work that explicitly models the layer-wise evolution of attention maps. Our implementation is available at https://***/pkuyym/EvolvingAttention. Copyright © 2022, The Authors. All rights reserved.

关键词： Convolution

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Real-time Terrain Recognition based on Transformer and Gait Prediction based on CNN-LSTM-Attention for Exosuit

Real-time Terrain Recognition based on Transformer and Gait ...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Fangliang Yang Chunjie Chen Zhuo Wang Yinsheng Xu Yao Liu Xinyu Wu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Guilin University of Technology Guilin China

For wearable soft exosuits, an imprecise control strategy can easily injure the wearer, while real-time terrain recognition and accurate gait phase estimation can effectively improve the control strategy of the exosuit and make the wearer comfortable and safe. In this paper, a real-time terrain recognition algorithm based on Transformer and a gait estimation algorithm based on CNN-LSTM-Attention are implemented. The Transformer-based recognition of different terrains improves the recognition accuracy to some extent, and the CNN-LSTM-Attention based feature extraction for temporal signals such as gait phase is also extremely noticeable. Experiments show that the Transformer-based algorithm achieves 99.64 % recognition accuracy in six different terrain environments. In the gait phase estimation experiment, CNN-LSTM-CBAM achieved the best performance with an evaluation index r2 of 0.9221. The aforementioned terrain recognition algorithms and gait phase estimation algorithms may have a positive impact on soft exosuit and dynamic prosthetics research.

关键词：

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An Improved UAV Path Optimization Algorithm for Target Accurately and Quickly Localization

An Improved UAV Path Optimization Algorithm for Target Accur...

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2021 International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2021

作者： Liang, Rui Wu, Kai Xu, Sheng Xu, Tiantian Ma, Xiaoyi Fu, Lianyu City West Power Supply Branch State Grid Tianjin Electric Power Company Tianjin China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen China Shenzhen Institute of Advanced Technology Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China State Grid Tianjin Information Telecommunication Company Tianjin China

ISBN: (纸本)9781665402453

Angle-of-arrival (AOA) target localization using the unmanned aerial vehicle (UAV) has been widely applied in many practical applications. To localize an invasive target quickly and accurately, both the estimation and UAV path optimization algorithms are required. This paper focuses on developing a path optimization method to improve the target estimation performance. Firstly, the problem formulation of AOA target localization is introduced. Secondly, the classical pseudolinear Kalman filter (PLKF) and the gradient-based path optimization are presented. Thirdly, we analyze the problems that existed in the previous methods and propose an improved gradient-descent path optimization algorithm combined with a simple grid search method. Finally, the simulation examples verify the effectiveness of the proposed methods. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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