This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy ...This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy reliance on extensive manually annotated datasets for training deep learning models still poses significant limitations to their application in real-world agricultural production environments.To overcome these limitations,we employed domain adaptive learning approach combined with the YOLOv5 model to develop a novel tomato detection model called as TDA-YOLO(tomato detection domain adaptation).We designated the normal illumination scenes in dense planting environments as the source domain and utilized various other illumination scenes as the target domain.To construct bridge mechanism between source and target domains,neural preset for color style transfer is introduced to generate a pseudo-dataset,which served to deal with domain discrepancy.Furthermore,this study combines the semi-supervised learning method to enable the model to extract domain-invariant features more fully,and uses knowledge distillation to improve the model's ability to adapt to the target domain.Additionally,for purpose of promoting inference speed and low computational demand,the lightweight FasterNet network was integrated into the YOLOv5's C3 module,creating a modified C3_Faster module.The experimental results demonstrated that the proposed TDA-YOLO model significantly outperformed original YOLOv5s model,achieving a mAP(mean average precision)of 96.80%for tomato detection across diverse scenarios in dense planting environments,increasing by 7.19 percentage points;Compared with the latest YOLOv8 and YOLOv9,it is also 2.17 and 1.19 percentage points higher,respectively.The model's average detection time per image was an impressive 15 milliseconds,with a FLOPs(floating point operations per second)count of 13.8 G.After acceleration processing,the detection accuracy of the TDA-YOLO model on the Jetson Xavier NX development board is 90.95%,the mAP value is 91.35%,and the detection time of each image is 21 ms,which can still meet the requirements of real-time detection of tomatoes in dense planting environment.The experimental results show that the proposed TDA-YOLO model can accurately and quickly detect tomatoes in dense planting environment,and at the same time avoid the use of a large number of annotated data,which provides technical support for the development of automatic harvesting systems for tomatoes and other fruits.展开更多
Direct online measurement on product quality of industrial processes is difficult to be realized,which leads to a large number of unlabeled samples in modeling data.Therefore,it needs to employ semi-supervised learnin...Direct online measurement on product quality of industrial processes is difficult to be realized,which leads to a large number of unlabeled samples in modeling data.Therefore,it needs to employ semi-supervised learning(SSL)method to establish the soft sensor model of product quality.Considering the slow time-varying characteristic of industrial processes,the model parameters should be updated smoothly.According to this characteristic,this paper proposes an online adaptive semi-supervised learning algorithm based on random vector functional link network(RVFLN),denoted as OAS-RVFLN.By introducing a L2-fusion term that can be seen a weight deviation constraint,the proposed algorithm unifies the offline and online learning,and achieves smoothness of model parameter update.Empirical evaluations both on benchmark testing functions and datasets reveal that the proposed OAS-RVFLN can outperform the conventional methods in learning speed and accuracy.Finally,the OAS-RVFLN is applied to the coal dense medium separation process in coal industry to estimate the ash content of coal product,which further verifies its effectiveness and potential of industrial application.展开更多
To avoid unstable learning, a stable adaptive learning algorithm was proposed for discrete-time recurrent neural networks. Unlike the dynamic gradient methods, such as the backpropagation through time and the real tim...To avoid unstable learning, a stable adaptive learning algorithm was proposed for discrete-time recurrent neural networks. Unlike the dynamic gradient methods, such as the backpropagation through time and the real time recurrent learning, the weights of the recurrent neural networks were updated online in terms of Lyapunov stability theory in the proposed learning algorithm, so the learning stability was guaranteed. With the inversion of the activation function of the recurrent neural networks, the proposed learning algorithm can be easily implemented for solving varying nonlinear adaptive learning problems and fast convergence of the adaptive learning process can be achieved. Simulation experiments in pattern recognition show that only 5 iterations are needed for the storage of a 15×15 binary image pattern and only 9 iterations are needed for the perfect realization of an analog vector by an equilibrium state with the proposed learning algorithm.展开更多
An approach based on reinfocement learning for the automated segmentation is presented. The approach consists of two modules:segmentation module and learning module. The segmentation module uses the region-growing alg...An approach based on reinfocement learning for the automated segmentation is presented. The approach consists of two modules:segmentation module and learning module. The segmentation module uses the region-growing algorithm combined with the smooth filtering and the morphological filtering to segment mammograms. The learning module uses the segmentation output as the feedback to learn to select the optimal parameter settings of the segmentation algorithm according to the image properties using reinforcement learning techniques. The approach can adapt itself to various kinds of mammograms through training and therefore obviates the tedious and error-prone tuning of parameter settings manually. Quantitative test results show that the approach is accurate for several kinds of mammograms. Compared to previously proposed approaches,the approach is more adaptable to different mammograms.展开更多
Traditional track dynamic geometric state(TDGS)simulation incurs substantial computational burdens,posing challenges for developing reliability assessment approach that accounts for TDGS.To overcome these,firstly,a si...Traditional track dynamic geometric state(TDGS)simulation incurs substantial computational burdens,posing challenges for developing reliability assessment approach that accounts for TDGS.To overcome these,firstly,a simulation-based TDGS model is established,and a surrogate-based model,grid search algorithm-particle swarm optimization-genetic algorithm-multi-output least squares support vector regression,is established.Among them,hyperparameter optimization algorithm’s effectiveness is confirmed through test functions.Subsequently,an adaptive surrogate-based probability density evolution method(PDEM)considering random track geometry irregularity(TGI)is developed.Finally,taking curved train-steel spring floating slab track-U beam as case study,the surrogate-based model trained on simulation datasets not only shows accuracy in both time and frequency domains,but also surpasses existing models.Additionally,the adaptive surrogate-based PDEM shows high accuracy and efficiency,outperforming Monte Carlo simulation and simulation-based PDEM.The reliability assessment shows that the TDGS part peak management indexes,left/right vertical dynamic irregularity,right alignment dynamic irregularity,and track twist,have reliability values of 0.9648,0.9918,0.9978,and 0.9901,respectively.The TDGS mean management index,i.e.,track quality index,has reliability value of 0.9950.These findings show that the proposed framework can accurately and efficiently assess the reliability of curved low-stiffness track-viaducts,providing a theoretical basis for the TGI maintenance.展开更多
针对海上无线网状网通信环境复杂多变、船舶节点具有特殊移动模型等特点,提出一种基于Q-Learning的自适应路由(Q-Learning Based Adaptive Routing,QLAR)算法。综合考虑海上无线电波传播特性、船舶航程信息以及相应海区气象信息等因素...针对海上无线网状网通信环境复杂多变、船舶节点具有特殊移动模型等特点,提出一种基于Q-Learning的自适应路由(Q-Learning Based Adaptive Routing,QLAR)算法。综合考虑海上无线电波传播特性、船舶航程信息以及相应海区气象信息等因素的影响,提出链路可靠性、链路稳定性和节点航程相似度等概念,并对链路状态进行评估;然后,根据链路状态评估结果,利用Q-Learning算法寻找源、目的节点间最稳定的路径以传输数据分组;最后,利用OPNET搭建仿真平台对算法进行测试。仿真结果表明,与4种对比算法中性能最优的算法相比,QLAR算法最高可提升分组投递率4.89%,降低平均分组时延17.42%,减少归一化路由开销21.99%。展开更多
A self-adaptive large neighborhood search method for scheduling n jobs on m non-identical parallel machines with mul- tiple time windows is presented. The problems＇ another feature lies in oversubscription, namely no...A self-adaptive large neighborhood search method for scheduling n jobs on m non-identical parallel machines with mul- tiple time windows is presented. The problems＇ another feature lies in oversubscription, namely not all jobs can be scheduled within specified scheduling horizons due to the limited machine capacity. The objective is thus to maximize the overall profits of processed jobs while respecting machine constraints. A first-in- first-out heuristic is applied to find an initial solution, and then a large neighborhood search procedure is employed to relax and re- optimize cumbersome solutions. A machine learning mechanism is also introduced to converge on the most efficient neighborhoods for the problem. Extensive computational results are presented based on data from an application involving the daily observation scheduling of a fleet of earth observing satellites. The method rapidly solves most problem instances to optimal or near optimal and shows a robust performance in sensitive analysis.展开更多
Sparse representation has attracted extensive attention and performed well on image super-resolution（SR） in the last decade. However, many current image SR methods face the contradiction of detail recovery and artif...Sparse representation has attracted extensive attention and performed well on image super-resolution（SR） in the last decade. However, many current image SR methods face the contradiction of detail recovery and artifact suppression. We propose a multi-resolution dictionary learning（MRDL） model to solve this contradiction, and give a fast single image SR method based on the MRDL model. To obtain the MRDL model, we first extract multi-scale patches by using our proposed adaptive patch partition method（APPM）. The APPM divides images into patches of different sizes according to their detail richness. Then, the multiresolution dictionary pairs, which contain structural primitives of various resolutions, can be trained from these multi-scale patches.Owing to the MRDL strategy, our SR algorithm not only recovers details well, with less jag and noise, but also significantly improves the computational efficiency. Experimental results validate that our algorithm performs better than other SR methods in evaluation metrics and visual perception.展开更多
Although a various of existing techniques are able to improve the performance of detection of the weak interesting sig- nal, how to adaptively and efficiently attenuate the intricate noises especially in the case of n...Although a various of existing techniques are able to improve the performance of detection of the weak interesting sig- nal, how to adaptively and efficiently attenuate the intricate noises especially in the case of no available reference noise signal is still the bottleneck to be overcome. According to the characteristics of sonar arrays, a multi-channel differencing method is presented to provide the prerequisite reference noise. However, the ingre- dient of obtained reference noise is too complicated to be used to effectively reduce the interference noise only using the clas- sical linear cancellation methods. Hence, a novel adaptive noise cancellation method based on the multi-kernel normalized least- mean-square algorithm consisting of weighted linear and Gaussian kernel functions is proposed, which allows to simultaneously con- sider the cancellation of linear and nonlinear components in the reference noise. The simulation results demonstrate that the out- put signal-to-noise ratio （SNR） of the novel multi-kernel adaptive filtering method outperforms the conventional linear normalized least-mean-square method and the mono-kernel normalized least- mean-square method using the realistic noise data measured in the lake experiment.展开更多
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
基金The National Natural Science Foundation of China (32371993)The Natural Science Research Key Project of Anhui Provincial University(2022AH040125&2023AH040135)The Key Research and Development Plan of Anhui Province (202204c06020022&2023n06020057)。
文摘This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy reliance on extensive manually annotated datasets for training deep learning models still poses significant limitations to their application in real-world agricultural production environments.To overcome these limitations,we employed domain adaptive learning approach combined with the YOLOv5 model to develop a novel tomato detection model called as TDA-YOLO(tomato detection domain adaptation).We designated the normal illumination scenes in dense planting environments as the source domain and utilized various other illumination scenes as the target domain.To construct bridge mechanism between source and target domains,neural preset for color style transfer is introduced to generate a pseudo-dataset,which served to deal with domain discrepancy.Furthermore,this study combines the semi-supervised learning method to enable the model to extract domain-invariant features more fully,and uses knowledge distillation to improve the model's ability to adapt to the target domain.Additionally,for purpose of promoting inference speed and low computational demand,the lightweight FasterNet network was integrated into the YOLOv5's C3 module,creating a modified C3_Faster module.The experimental results demonstrated that the proposed TDA-YOLO model significantly outperformed original YOLOv5s model,achieving a mAP(mean average precision)of 96.80%for tomato detection across diverse scenarios in dense planting environments,increasing by 7.19 percentage points;Compared with the latest YOLOv8 and YOLOv9,it is also 2.17 and 1.19 percentage points higher,respectively.The model's average detection time per image was an impressive 15 milliseconds,with a FLOPs(floating point operations per second)count of 13.8 G.After acceleration processing,the detection accuracy of the TDA-YOLO model on the Jetson Xavier NX development board is 90.95%,the mAP value is 91.35%,and the detection time of each image is 21 ms,which can still meet the requirements of real-time detection of tomatoes in dense planting environment.The experimental results show that the proposed TDA-YOLO model can accurately and quickly detect tomatoes in dense planting environment,and at the same time avoid the use of a large number of annotated data,which provides technical support for the development of automatic harvesting systems for tomatoes and other fruits.
基金Projects(61603393,61973306)supported in part by the National Natural Science Foundation of ChinaProject(BK20160275)supported by the Natural Science Foundation of Jiangsu Province,China+1 种基金Projects(2015M581885,2018T110571)supported by the Postdoctoral Science Foundation of ChinaProject(PAL-N201706)supported by the Open Project Foundation of State Key Laboratory of Synthetical Automation for Process Industries of Northeastern University,China
文摘Direct online measurement on product quality of industrial processes is difficult to be realized,which leads to a large number of unlabeled samples in modeling data.Therefore,it needs to employ semi-supervised learning(SSL)method to establish the soft sensor model of product quality.Considering the slow time-varying characteristic of industrial processes,the model parameters should be updated smoothly.According to this characteristic,this paper proposes an online adaptive semi-supervised learning algorithm based on random vector functional link network(RVFLN),denoted as OAS-RVFLN.By introducing a L2-fusion term that can be seen a weight deviation constraint,the proposed algorithm unifies the offline and online learning,and achieves smoothness of model parameter update.Empirical evaluations both on benchmark testing functions and datasets reveal that the proposed OAS-RVFLN can outperform the conventional methods in learning speed and accuracy.Finally,the OAS-RVFLN is applied to the coal dense medium separation process in coal industry to estimate the ash content of coal product,which further verifies its effectiveness and potential of industrial application.
基金Project(50276005) supported by the National Natural Science Foundation of China Projects (2006CB705400, 2003CB716206) supported by National Basic Research Program of China
文摘To avoid unstable learning, a stable adaptive learning algorithm was proposed for discrete-time recurrent neural networks. Unlike the dynamic gradient methods, such as the backpropagation through time and the real time recurrent learning, the weights of the recurrent neural networks were updated online in terms of Lyapunov stability theory in the proposed learning algorithm, so the learning stability was guaranteed. With the inversion of the activation function of the recurrent neural networks, the proposed learning algorithm can be easily implemented for solving varying nonlinear adaptive learning problems and fast convergence of the adaptive learning process can be achieved. Simulation experiments in pattern recognition show that only 5 iterations are needed for the storage of a 15×15 binary image pattern and only 9 iterations are needed for the perfect realization of an analog vector by an equilibrium state with the proposed learning algorithm.
文摘An approach based on reinfocement learning for the automated segmentation is presented. The approach consists of two modules:segmentation module and learning module. The segmentation module uses the region-growing algorithm combined with the smooth filtering and the morphological filtering to segment mammograms. The learning module uses the segmentation output as the feedback to learn to select the optimal parameter settings of the segmentation algorithm according to the image properties using reinforcement learning techniques. The approach can adapt itself to various kinds of mammograms through training and therefore obviates the tedious and error-prone tuning of parameter settings manually. Quantitative test results show that the approach is accurate for several kinds of mammograms. Compared to previously proposed approaches,the approach is more adaptable to different mammograms.
基金Project(52072412)supported by the National Natural Science Foundation of China。
文摘Traditional track dynamic geometric state(TDGS)simulation incurs substantial computational burdens,posing challenges for developing reliability assessment approach that accounts for TDGS.To overcome these,firstly,a simulation-based TDGS model is established,and a surrogate-based model,grid search algorithm-particle swarm optimization-genetic algorithm-multi-output least squares support vector regression,is established.Among them,hyperparameter optimization algorithm’s effectiveness is confirmed through test functions.Subsequently,an adaptive surrogate-based probability density evolution method(PDEM)considering random track geometry irregularity(TGI)is developed.Finally,taking curved train-steel spring floating slab track-U beam as case study,the surrogate-based model trained on simulation datasets not only shows accuracy in both time and frequency domains,but also surpasses existing models.Additionally,the adaptive surrogate-based PDEM shows high accuracy and efficiency,outperforming Monte Carlo simulation and simulation-based PDEM.The reliability assessment shows that the TDGS part peak management indexes,left/right vertical dynamic irregularity,right alignment dynamic irregularity,and track twist,have reliability values of 0.9648,0.9918,0.9978,and 0.9901,respectively.The TDGS mean management index,i.e.,track quality index,has reliability value of 0.9950.These findings show that the proposed framework can accurately and efficiently assess the reliability of curved low-stiffness track-viaducts,providing a theoretical basis for the TGI maintenance.
文摘针对海上无线网状网通信环境复杂多变、船舶节点具有特殊移动模型等特点,提出一种基于Q-Learning的自适应路由(Q-Learning Based Adaptive Routing,QLAR)算法。综合考虑海上无线电波传播特性、船舶航程信息以及相应海区气象信息等因素的影响,提出链路可靠性、链路稳定性和节点航程相似度等概念,并对链路状态进行评估;然后,根据链路状态评估结果,利用Q-Learning算法寻找源、目的节点间最稳定的路径以传输数据分组;最后,利用OPNET搭建仿真平台对算法进行测试。仿真结果表明,与4种对比算法中性能最优的算法相比,QLAR算法最高可提升分组投递率4.89%,降低平均分组时延17.42%,减少归一化路由开销21.99%。
基金supported by the National Natural Science Foundation of China (7060103570801062)
文摘A self-adaptive large neighborhood search method for scheduling n jobs on m non-identical parallel machines with mul- tiple time windows is presented. The problems＇ another feature lies in oversubscription, namely not all jobs can be scheduled within specified scheduling horizons due to the limited machine capacity. The objective is thus to maximize the overall profits of processed jobs while respecting machine constraints. A first-in- first-out heuristic is applied to find an initial solution, and then a large neighborhood search procedure is employed to relax and re- optimize cumbersome solutions. A machine learning mechanism is also introduced to converge on the most efficient neighborhoods for the problem. Extensive computational results are presented based on data from an application involving the daily observation scheduling of a fleet of earth observing satellites. The method rapidly solves most problem instances to optimal or near optimal and shows a robust performance in sensitive analysis.
文摘Sparse representation has attracted extensive attention and performed well on image super-resolution（SR） in the last decade. However, many current image SR methods face the contradiction of detail recovery and artifact suppression. We propose a multi-resolution dictionary learning（MRDL） model to solve this contradiction, and give a fast single image SR method based on the MRDL model. To obtain the MRDL model, we first extract multi-scale patches by using our proposed adaptive patch partition method（APPM）. The APPM divides images into patches of different sizes according to their detail richness. Then, the multiresolution dictionary pairs, which contain structural primitives of various resolutions, can be trained from these multi-scale patches.Owing to the MRDL strategy, our SR algorithm not only recovers details well, with less jag and noise, but also significantly improves the computational efficiency. Experimental results validate that our algorithm performs better than other SR methods in evaluation metrics and visual perception.
基金supported by the National Natural Science Foundation of China(6100115361271415)+2 种基金the Opening Research Foundation of State Key Laboratory of Underwater Information Processing and Control(9140C231002130C23085)the Fundamental Research Funds for the Central Universities(3102014JCQ010103102014ZD0041)
文摘Although a various of existing techniques are able to improve the performance of detection of the weak interesting sig- nal, how to adaptively and efficiently attenuate the intricate noises especially in the case of no available reference noise signal is still the bottleneck to be overcome. According to the characteristics of sonar arrays, a multi-channel differencing method is presented to provide the prerequisite reference noise. However, the ingre- dient of obtained reference noise is too complicated to be used to effectively reduce the interference noise only using the clas- sical linear cancellation methods. Hence, a novel adaptive noise cancellation method based on the multi-kernel normalized least- mean-square algorithm consisting of weighted linear and Gaussian kernel functions is proposed, which allows to simultaneously con- sider the cancellation of linear and nonlinear components in the reference noise. The simulation results demonstrate that the out- put signal-to-noise ratio （SNR） of the novel multi-kernel adaptive filtering method outperforms the conventional linear normalized least-mean-square method and the mono-kernel normalized least- mean-square method using the realistic noise data measured in the lake experiment.
基金Supported by the Scientific Research Foundation for the Returned 0verseas Chinese Scholars, State Education Ministry, and National Natural Science Foundation of China （60474005）
基金Supported by National Natural science Foundation-of P.R.Chlna （60474038, 60774022）, Specialized Research Fund for the Doctoral Program of Higher Educatlon（20060004002）
