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

作者： Guanfeng Yu Han Zhang Zehao Wang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities.

关键词： Pedestrians Accuracy systematics Wheelchairs Estimation Predictive models Real-time systems

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Spatial Dynamics of Chickenpox Outbreaks in Rapidly Developing Regions:Implications for Global Public Health

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Biomedical and Environmental Sciences 2024年第7期37卷 687-697页

作者： Li Wang Miaomiao Wang Chengdong Xu Peihan Wang Meiying You Zihan Li Xinmei Chen Xinyu Liu Xudong Li Yuanyuan Wang Yuehua Hu Dapeng Yin College of Geography and Environmental Science Henan UniversityKaifeng 475001HenanChina State Key Laboratory of Resources and Environmental Information System Institute of Geographic Science and Natural Resource ResearchChinese Academy of SciencesBeijing 100101BeijingChina Key Laboratory of Geospatial Technology for the Middle and Lower Yellow River Regions(Henan University) Ministry of EducationKaifeng 475001HenanChina Office of Epidemiology Chinese Center for Disease Control and PreventionBeijing 102206BeijingChina University of Chinese Academy of Sciences(UCAS) Beijing 100101BeijingChina Weifang Municipal Center for Disease Control and Prevention Weifang 261061ShandongChina Hainan Center for Disease Control and Prevention Haikou 570203HainanChina

Objective The occurrence of chickenpox in rapidly developing areas poses substantial seasonal risk to ***,certain factors influencing local chickenpox outbreaks have not been ***,we examined the relationship between spatial clustering,heterogeneity of chickenpox outbreaks,and socioeconomic factors in Southern *** We assessed chickenpox outbreak data from Southern China between 2006 and 2021,comprising both relatively fast-growing parts and slower sub-regions,and provides a representative sample of many developing *** analyzed the spatial clustering attributes associated with chickenpox outbreaks using Moran’s I and local indicators of spatial association and quantified their socioeconomic determinants using Geodetector q *** There were significant spatial heterogeneity in the risk of chickenpox outbreaks,with strong correlations between chickenpox risk and various factors,particularly demographics and living ***,interactive effects among specific are factors,such as population density and per capita residential building area,percentage of households with toilets,percentage of rental housing,exhibited q statistics of 0.28,0.25,and 0.24,*** This study provides valuable insights into the spatial dynamics of chickenpox outbreaks in rapidly developing regions,revealing the socioeconomic factors affecting disease *** implications extend the formulation of effective public health strategies and interventions to prevent and control chickenpox outbreaks in similar global contexts.

关键词： Chickenpox Spatial dynamics Socioeconomic factors

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Dual-branch Transformer with Series Decomposition for Long-term Orbit Correction

Dual-branch Transformer with Series Decomposition for Long-t...

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2024 International Technical Meeting of The Institute of Navigation, ITM 2024

作者： Liu, Ziyu Wang, Jingran Zheng, Shaolong Wei, Shiyi Li, Zhenni Xie, Shengli Wang, Mingwei School of Automation Guangdong University of Technology Guangzhou510006 China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangzhou510006 China Techtotop Microelectronics Technology Co. Ltd Guangzhou510006 China Guangdong Key Laboratory of IoT Information Technology Guangzhou510006 China Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education China

ISBN: (纸本)9780936406367

Time to First Fix (TTFF) is one of the most important measures of GNSS receiver performance. Under the hot-start mode, the receiver needs only 1 to 2 seconds for positioning. However, under the cold start mode, it takes more than 20 seconds to receive the ephemeris to obtain the accurate satellite position. This is due to the fact that current satellite orbit prediction method cannot provide position information accurately based on the old ephemeris, which is detrimental to fast positioning. To address the above challenge, we propose a novel Transformer-based model for long-term orbit corrections. The model makes full use of the time-series information of historical orbit errors and is able to capture long-term dependencies from orbit error series in different lengths. The predicted orbits can be corrected according to the predicted error components, thereby achieving accurate satellite orbit prediction. Due to the temporal patterns in the orbit error series, the features and information hidden in their complex temporal patterns are often difficult to be extracted and utilised. To tackle the intricate temporal patterns, we introduce an inner series decomposition block to deconstruct the seasonal part and trend-cyclical part from orbit errors series, which also empowers the model with immanent decomposition capacity. In addition, in order to extract the cross-time dependency within the curves as well as the cross-dimension dependency between the curves, we propose the Dual-Branch Attention (DBA) layer to capture the cross-time and cross-dimension dependency. Integrating the proposed series decomposition block and the Dual-Branch Attention(DBA) layer into Transformer, we build a Dual-branch Transformer with series decomposition (DBSD-Transformer) for long-term orbit corrections. Experimental results on satellite orbit error data in 2022 from the BeiDou MEO-10 satellite show the effectiveness of our method. Compared to the prediction method based on the Kepler model, t

关键词： Orbits

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A Multi-scale Framework for Out-of-Distribution Detection in Dermoscopic Images 1

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4th International Conference on Machine Learning for Cyber Security, ML4CS 2022

作者： Huang, Zhongzheng Wang, Tao Cai, Yuanzheng Liang, Lingyu College of Computer and Data Science Fuzhou University Fuzhou350108 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering and International Digital Economy College Minjiang University Fuzhou350108 China The Key Laboratory of Cognitive Computing and Intelligent Information Processing of Fujian Education Institutions Wuyi University Wuyishan354300 China Fujian Yilian-Health Nursing Information Technology Co. Ltd. Fuzhou350003 China School of Electronic and Information Engineering South China University of Technology Guangzhou510641 China

ISBN: (数字)9783031200960

ISBN: (纸本)9783031200953

The automatic detection of skin diseases via dermoscopic images can improve the efficiency in diagnosis and help doctors make more accurate judgments. However, conventional skin disease recognition systems may produce high confidence for out-of-distribution (OOD) data, which may become a major security vulnerability in practical applications. In this paper, we propose a multi-scale detection framework to detect out-of-distribution skin disease image data to ensure the robustness of the system. Our framework extracts features from different layers of the neural network. In the early layers, rectified activation is used to make the output features closer to the well-behaved distribution, and then an one-class SVM is trained to detect OOD data;in the penultimate layer, an adapted Gram matrix is used to calculate the features after rectified activation, and finally the layer with the best performance is chosen to compute a normality score. Experiments show that the proposed framework achieves superior performance when compared with other state-of-the-art methods in the task of skin disease recognition. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Chemical activation

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Improving NLOS/LOS Classification Accuracy in Urban Canyon Based on Channel-Independent Patch Transformer with Temporal information

Improving NLOS/LOS Classification Accuracy in Urban Canyon B...

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2024 International Technical Meeting of The Institute of Navigation, ITM 2024

作者： Chen, Jiajun Wang, Jingran Zheng, Shaolong Liu, Yujie Li, Zhenni Xie, Shengli Wang, Qianming School of Automation Guangdong University of Technology Guangzhou510006 China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangzhou510006 China Techtotop Microelectronics Technology Co. Ltd Guangzhou510006 China Guangdong Key Laboratory of IoT Information Technology Guangzhou510006 China Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education China

ISBN: (纸本)9780936406367

The global navigation satellite systems (GNSS) positioning performance is significantly degraded due to the blocking of direct signals and errors caused by reflected signals in urban canyons. Recent studies have used deep learning or machine learning methods to distinguish the line-of-sight(LOS) and non-line-of-sight(NLOS) signals to solve multi-path problems. However, these approaches still face challenges. The visibility of satellites is relatively stable in a short period, but the features of their signals change in varying degrees. Existing methods focus on the visibility identification of satellites at a single epoch, which fails to capture the effect of the temporal features of satellite signals on visibility and ignores the complex associations between satellites at multiple continual epochs. To address the above challenge, this paper develops a novel channel-independent patch transformer neural network with temporal information, for improving the prediction of GNSS satellite visibility. Firstly, to capture the influence of individual satellite features on the classifications of NLOS signals, we adopt the concept of independent channels to disentangle the various satellite features. In this way, we construct temporal variations for each feature and then independently assess the effect of these feature variations on satellite visibility. Secondly, to account for the association of multiple continuous epochs satellites, we partition the constructed temporal window feature sequences into a collection of sub-sequences level patches. This patch-level structural design preserves the semantic associations of multiple epochs satellites while also maintaining the ability to focus across a sufficient number of epochs. Finally, based on the idea of channel independence and patch, we develop a novel channel-independent patch transformer (CIPT) neural network with temporal information for predicting satellite visibility, which can not only learn the effect of individual f

关键词： Satellites

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Automatic Recognition of Whale and Dolphin Whistles Based on Visual Feature Extraction Approach 2

Automatic Recognition of Whale and Dolphin Whistles Based on...

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2nd IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2022

作者： Wu, Wei Feng, Huibin Junejo, Naveed Ur Rehman Qiu, Yuquan Yan, Jiaquan College of Computer and Control Engineering Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Fuzhou China University of Lahore Department of Computer Engineering Lahore Pakistan

ISBN: (纸本)9781665442763

Automatic recognition of marine mammals plays a significant role in the protection of endangered marine species, generally utilizing their vocalizations. In this paper, we propose a novel visual feature extraction approach for whale and dolphin signals incorporating variational mode decomposition (VMD) and Hilbert transform (VMD-HT) to construct the high-resolution time-frequency signatures and using gray level co-occurrence matrix (GLCM) to extort image features. Firstly, the objected signals are decomposed by VMD algorithm into multiple intrinsic mode functions (IMFs), which can capture local frequency features precisely. Secondly, the time-frequency signature of the objected signal with high resolution is constructed by linear superposition operation of each IMF time-frequency image depicted through Hilbert transform (HT). Thirdly, the image features are extracted using GLCM. Eventually, support vector machine (SVM) is adopted to validate the classification performance of the proposed method. The experimental results verify that the resolution improvement of time-frequency image attains the correct recognition rate and the proposed method accuracy is higher than the compared method about 11.11% © 2022 IEEE.

关键词： Variational mode decomposition

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Phase Retrieval by Tensor Total Least Squares

Phase Retrieval by Tensor Total Least Squares

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International Conference on Acoustics, Speech, and Signal processing (ICASSP)

作者： Jiani Liu Ce Zhu Yang Chen Xiaolin Huang Yipeng Liu School of Information and Communication Engineering University of Electronic Science and Technology of China (UESTC) Chengdu China Department of Automation The MOE Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China

Phase retrieval seeks to reconstruct a series of image sequences from measurements that only capture their magnitudes. Current approaches either flatten and stack the image sequences, disregarding their multidimensional structural information, or fail to account for errors within the sensing vectors/tensors. To address these two issues simultaneously, we propose a unified framework for the phase retrieval problem, namely tensor total least squares (TTLS). Specifically, we set up a tensor representation for image sequences and the corresponding measurement model, and for the first time employ the advanced tensor ring network to effectively explore the inherent multidimensional structure for more accurate estimation. Moreover, in addition to the additive noise, the multiplicative errors within the sensing tensor can be also well-corrected, leading to a more robust estimation. Experimental results on both simulated data and real videos demonstrate the superiority of the proposed method.

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Security-Aware Reinforcement Learning under Linear Temporal Logic Specifications

Security-Aware Reinforcement Learning under Linear Temporal ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Bohan Cui keyi Zhu Shaoyuan Li Xiang Yin Department of Automation Shanghai Jiao Tong University Shanghai China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai China

In this paper, we investigate the problem of reinforcement learning under linear temporal logic (LTL) specifications for Markov decision processes (MDPs) with security constraints. We consider an outside passive intruder (observer) that can observe the external output behavior of the system through an output projection. We assume that the secret of the system is a subset of the initial states. The security constraint requires that the observer can never infer for sure that the agent was initiated from a secret state. Our objective is to learn a control policy that achieves the LTL task while ensuring security. To solve the problem of shaping the reward for reinforcement learning, we propose an approach based on the initial-state estimator and the limit deterministic Büchi automata. We illustrate the proposed approach by a case study of mobile robot example.

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Kernel-Guided Texture-Aware Blind Super-Resolution via Uncertainty Learning 13

Kernel-Guided Texture-Aware Blind Super-Resolution via Uncer...

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13th International Conference on information Technology in Medicine and Education, ITME 2023

作者： Zhao, Tingting Li, Zuoyong Quan, Li Zeng, Kun Teng, Shenghua College of Electronic and Information Engineering Shandong University of Science and Technology Qingdao266590 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control College of Computer and Control Engineering Minjiang University Fuzhou350121 China College of Computer Science and Big Data Fuzhou University Fuzhou350121 China

ISBN: (纸本)9798350319156

The accuracy of kernel estimation is critical to the performance of blind super-resolution (SR). Traditional kernel estimation methods usually use L1 or L2 loss function to minimize the difference between the estimated kernel and the ground-truth kernel. This tends to make the estimated kernel converge towards the average of all possible kernels, deviating from the ground-truth kernel. To improve the performance of kernel estimation, this paper proposes an uncertainty loss for training a kernel estimation network, focusing on regions with high uncertainty (variance) in the kernel. In addition, a texture-aware SR network is proposed that utilizes the Gumbel Softmax trick to pay more attention to the complex regions of the image texture, thus improving the SR performance. Extensive experiments on synthetic datasets show that our approach achieves promising performance. © 2023 IEEE.

关键词： Textures

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Streaming-Data-Driven Distributionally Robust Joint Operation of Multi-Microgrids and Off-Site Hydrogen Refueling Stations under Uncertainties 11

Streaming-Data-Driven Distributionally Robust Joint Operatio...

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11th International Conference on Innovative Smart Grid Technologies - Asia, ISGT-Asia 2022

作者： Li, Longyan Ning, Chao Qiu, Haifeng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai China School of Electrical & Electronic Engineering Nanyang Technological University Singapore Singapore

ISBN: (纸本)9798350399660

This paper proposes a novel online-learning-enabled hierarchical distributionally robust energy management framework for multi-microgrids (MMGs) with off-site hydrogen refueling stations (HRSs). The proposed framework integrates day-ahead scheduling, intra-day rescheduling and real-time control. The day-ahead scheduling is implemented via a central energy management system for optimal joint scheduling of the MMG systems and off-site HRSs, then the intra-day rescheduling is carried out to optimize the real-time operation and to generate the reference for local controllers. To adequately characterize the statistical properties of renewable and load uncertainties from data streams, we leverage a Dirichlet process mixture model to construct an online-update ambiguity set, which encodes multimodality and local moment information. Based upon this ambiguity set, an online-learning distributionally robust model predictive control (OL-DRMPC) is developed to enhance the tracking performance of energy storage references and to reduce conservatism while guaranteeing probabilistic operational constraints. Its effectiveness is verified in a case study. © 2022 IEEE.

关键词： Real time control

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