Artificial Intelligence and Robotics Commons^™

Image Denoising Algorithm Based On Method Noise Sparse Representation Dictionary Learning, Lishao Huang, Haiying Wen, Sisi Gu

Journal of System Simulation

Abstract: For the shortcoming of losting partial texture information with image denoising process, the image denoising algorithm based on method noise sparse representation was proposed. The method noise, which was defined as the difference between the noisy and the denoised image, was obtained by guided filter. Then redundant dictionary was learned by improved dictionary learning method and the method noise. The image texture information in method noise was extracted by the learning dictionary, and image was restored by the extracted image texture information and denoised image by guided filter. The experimental results demonstrate that the peak signal to noise ratio …

Color Face Image Recognition Based On Lbpt Method, Jihua Ye, Yahui Chen, Shimin Wang

Journal of System Simulation

Abstract: Aiming to the shortcomings of exiting algorithm to obtain better color face image information for color facial image recognition, the LBPT algorithm was proposed to realize the high efficiency recognition of color face image. LBPT algorithm reflected the texture features of gray image through adaptively obtaining neighborhood radius, ascertaining the relationship between neighborhood radius and neighborhood pixel number, setting threshold. The RGB color model was used to separate the color face image into the R,G,B three component diagrams. The LBPT algorithm was used to obtain the feature of the component diagrams. In order to realize further recognition, the method …

Image Segmentation Based On Active Contour Derived By Signed Pressure Force Function, Hongli Lü, Renfang Wang

Journal of System Simulation

Abstract: Distance regularized level set evolution model for image segmentation has some shortcomings. Initial curve is not flexible and the direction of curve evolution is not self-adaptive. A new active contour model was proposed. A signed pressure force function (SPF) was constructed, integrating local information and global information, and shown to modulate the signs of pressure forces inside and outside the region of object; Then SPF was embed to DRLSE model to solve the problem of requiring the initial contour to surround (let in or keep out) the objects. Experimental results show that the new model's initial contour can be …

Opnet Simulation Method For Underwater Acoustic Networks Based On Chirp Spread Spectrum, Wencong Li, Yuan Fei, Zhangting Zhong, En Cheng

Journal of System Simulation

Abstract: Underwater acoustic(UWA) network protocol simulation on OPNET software could not follow the changing of channel structure and did not support custom modulation. In view of the limitations mentioned, a more realistic method of UWA protocol simulation on OPNET was introduced. UWA network ALHOA protocol simulation was token as an example. The physical layer modulation customized was called π/4-DM-DQPSK which was based on Chirp Spread Spectrum. In Matlab, the system would generate a modulation curve which would then be imported into OPNET to adjust the configuration of other pipelines. The simulation results of ALHOA protocol was verified in two Bellhop …

Boundary Conditions For Model Of Random Kelvin Cell Open-Cell Foam And Its Application On Open-Cell Aluminum Foam, Minju Qi, Guangfa Gao

Journal of System Simulation

Abstract: The random Kelvin cell open-cell foam model, the further investigations on the boundary conditions of the model were carried out using the Python scripting language and the commercial code ABAQUS. The ‘floating' edges in boundary, owing to being cut with slanted planes, were eliminated. The compressive behaviors of the material under free boundary condition and fixed boundary condition were investigated and comparatively analyzed. On the basis of the above results, the periodic boundary condition was developed, and the method of setting the periodic boundary condition under several different conditions was discussed. The methodology for the design and implement for …

Simulation Study On Mslb Plus Sgtr And Si Failure Process In Reactor Vessel Based On Maap5, Xianrong Wu, Huiming Wei, Xuefeng Su, Wu Fan

Journal of System Simulation

Abstract: NPP Main Steam Line Break (MSLB) plus Steam Generator Tube Rupture (SGTR) and Safety Injection (SI) failure is severe accident (SA) process with complex phenomena in reactor vessel. The severe accident process serial was analyzed using the latest version of Modular Accident Analysis Program 5 (MAAP5). The whole trends of the simulation result agreed well with the anticipated process serial, which could provide training material to the full scope simulator and the related evidence to make detailed severe accident management guidelines (SAMG).

Path Planning And Control Simulation Of Unpowered Unmanned Aerial Vehicle (Uav) Returning To The Airport, Yijun Zhang, Yiqun Dong, Zhan Guang, Jianliang Ai

Journal of System Simulation

Abstract: The unpowered Unmanned Aerial Vehicle (UAV) return to the airport unpoweredly is a link of large risk and complex technology during the flight, and it is the key stage which affects the flight safety of the UAV. The basic control strategy and path planning of the unpowered UAV's back to the airport were studied, and the method which calculated the average drag of the return was proposed. Under the condition of multiple constraints, the flight control model of the UAV's return was established. It is proved that the result of the simulation is effective and has built a foundation …

Simulation Of Three Level Inverter Neutral Point Potential Control Based On Three Level Dc/Dc Converter, Kun Xia, Xiaodi Li, Xiaobo Ding, Yanneng Zeng, Yiming Wang, Xu Po

Journal of System Simulation

Abstract: The DC capacitor voltage unbalancing of NPC three-level inverter not only makes the AC output performance worse, but also reduces the DC capacitors' service life and even damages the power devices. A method based on three-level DC/DC converter was put forward to control the neutral point potential of three-level inverter. This method realized power conversion with three-level DC/DC converter topology, boosting voltage and stabilizing the neutral point potential of DC link at the same time. It would regulate switches working states according to the constraint rules on the sum of switches off time deciding bus voltage and the ratio …

Application Of Recursive Least Square Method In Identication Of Dehydrogenation Reator, Guoyou Li, Ningning Gao, Wenhua Xia

Journal of System Simulation

Abstract: The current production methods of styrene at home and abroad are mainly dhydrogenation of ethylbenzene which accounts for more than 90% of styrene production capacity in the world. To save energy, it was needed to optimize the system and its premise was to know the mathematical model of ethylbenzene dehydrogenation reactor. Due to the complexity of the reactor internal structure, mechanism modeling was more difficult to establish objective and accurate mathematics models. To solve this problem, it was used recursive least squares to conduct parameter identification. On the basis of actual plant data, ethylbenzene dehydrogenation reactor mathematical model was …

Simulation Research Of Maglev Train During Uphill And Downhill Process, Songqi Li, Kunlun Zhang, Guoqing Liu, Chen Yin

Journal of System Simulation

Abstract: In the low speed EMS maglev test line experiments in Zhuzhou, it was found that vehicles are prone to hit the tracks, when the maglev train travels uphill or downhill through the tracks with slopes. This seriously affected the safety and comfort of the vehicle. In order to study the problem, a single low speed EMS maglev train carriages-track model with four degrees of freedom was built. It simulated and analyzed dynamic behaviors of the vehicle going uphill on different track curves, under different vehicle -track parameters. The simulation results show that the vehicle parameters, vehicle speed, and the …

Modeling Method Based On Reachable Set For Safety Path In Autonomous Vehicle Obstacle Avoidance, Cao Kai, Xiaoxiao Huang, Yu Yun, Liu Chun

Journal of System Simulation

Abstract: In view of problem in all possible uncertain behavior of vehicle unable existed by the traditional path planning algorithm, a modeling method was proposed which deemed a moving vehicle as a hybrid system switching dynamically between continuous and discrete mode, modeled an optimal trajectory for vehicle obstacle avoidance by using a single security target location, and built a safe state reachable set based on the trajectory beam of multiple security target locations. On this basis, the condition of the inevitable collision of vehicle was analyzed, and the optimal control problem with loose constraints for the vehicle obstacle avoidance was …

Numerical Simulation For Influence Of Baffle Length On Hydraulic Characteristics In Radial Sedimentation Tanks, Wenli Wei, Zewei Zhang, Yunfei Hong, Yuling Liu

Journal of System Simulation

Abstract: The VOF (volume of fluid) method was applied to track the free water surface, and the RNG turbulent model was used to close the two-phase flow time-averaged equations. The influence of inlet vertical baffle with different lengths on hydraulic characteristics in radial sedimentation tank was simulated and analyzed. The control equations were discretized using the finite volume method. Velocity and pressure were solved using the PISO (Pressure-Implicit with Splitting of Operators) algorithm. The research results show that: the long length feed flow baffle model has a smaller recirculation zone, better velocity field distribution than short length baffle, and the …

Research Of Visualization Of Road Guide Sign Panel Based On Combination Of Guiding Information, Zhongming Niu, Huang Min, Yuan Yuan, Li Min

Journal of System Simulation

Abstract: In order to realize the intelligent management of road guide signs, a method of visualization of road guide sign panel based on the flexible combination of guiding information was proposed. As a consequence of analysis for structures of guide sign panel, the message on the guide sign panel was decomposed into guiding information, and then visualization function was proposed. The panel style was determined by the physical and logical topology of guiding intersection dynamically with the help of guide sign system database. Then the composition of geography information and guiding information was utilized in the process of visualization …

Learning To Learn Kernels With Variational Random Features, Xiantong Zhen, Haoliang Sun, Yingjun Du, Jun Xu, Yilong Yin, Ling Shao, Cees Snoek

Machine Learning Faculty Publications

We introduce kernels with random Fourier features in the meta-learning framework for few-shot learning. We propose meta variational random features (MetaVRF) to learn adaptive kernels for the base-learner, which is developed in a latent variable model by treating the random feature basis as the latent variable. We formulate the optimization of MetaVRF as a variational inference problem by deriving an evidence lower bound under the meta-learning framework. To incorporate shared knowledge from related tasks, we propose a context inference of the posterior, which is established by an LSTM architecture. The LSTMbased inference network effectively integrates the context information of previous …

Rrsds: Towards A Robot-Ready Spoken Dialogue System, Casey Kennington, Daniele Moro, Lucas Marchand, Jake Carns, David Mcneill

Computer Science Faculty Publications and Presentations

Spoken interaction with a physical robot requires a dialogue system that is modular, multimodal, distributive, incremental and temporally aligned. In this demo paper, we make significant contributions towards fulfilling these requirements by expanding upon the ReTiCo incremental framework. We outline the incremental and multimodal modules and how their computation can be distributed. We demonstrate the power and flexibility of our robot-ready spoken dialogue system to be integrated with almost any robot.

How To Make Sure That Robot's Behavior Is Human-Like, Vladik Kreinovich, Olga Kosheleva, Laxman Bokati

Departmental Technical Reports (CS)

In many applications -- e.g., in health care -- it is desirable to make robots behave human-like. This means, in particular, that robotic control should not be optimal, it should be similar to human (suboptimal) behavior. People's decisions are based on bounded rationality: since we cannot compute an optimal solution for all possible situations, we divide situations into groups and come up with a solution appropriate for each group. What is optimal here is the division into groups. It is therefore desirable to implement a similar algorithm for robots. To help with such algorithms, we provide techniques that help optimally …

Learning Word Groundings From Humans Facilitated By Robot Emotional Displays, David Mcneill, Casey Kennington

Computer Science Faculty Publications and Presentations

In working towards accomplishing a human-level acquisition and understanding of language, a robot must meet two requirements: the ability to learn words from interactions with its physical environment, and the ability to learn language from people in settings for language use, such as spoken dialogue. In a live interactive study, we test the hypothesis that emotional displays are a viable solution to the cold-start problem of how to communicate without relying on language the robot does not–indeed, cannot–yet know. We explain our modular system that can autonomously learn word groundings through interaction and show through a user study with 21 …

Nonlinear Dimensionality Reduction For The Thermodynamics Of Small Clusters Of Particles, Aditya Dendukuri

Graduate Theses and Dissertations

This work employs tools and methods from computer science to study clusters comprising a small number N of interacting particles, which are of interest in science, engineering, and nanotechnology. Specifically, the thermodynamics of such clusters is studied using techniques from spectral graph theory (SGT) and machine learning (ML). SGT is used to define the structure of the clusters and ML is used on ensembles of cluster configurations to detect state variables that can be used to model the thermodynamic properties of the system. While the most fundamental description of a cluster is in 3N dimensions, i.e., the Cartesian coordinates of …

Evaluating Human Versus Machine Learning Performance In Classifying Research Abstracts, Yeow Chong Goh, Xin Qing Cai, Walter Theseira, Giovanni Ko, Khiam Aik Khor

Research Collection School Of Economics

We study whether humans or machine learning (ML) classification models are better at classifying scientific research abstracts according to a fixed set of discipline groups. We recruit both undergraduate and postgraduate assistants for this task in separate stages, and compare their performance against the support vectors machine ML algorithm at classifying European Research Council Starting Grant project abstracts to their actual evaluation panels, which are organised by discipline groups. On average, ML is more accurate than human classifiers, across a variety of training and test datasets, and across evaluation panels. ML classifiers trained on different training sets are also more …

Skin-Mimo: Vibration-Based Mimo Communication Over Human Skin, Dong Ma, Yuezhong Wu, Ming Ding, Mahbub Hassan, Wen Hu

Research Collection School Of Computing and Information Systems

We explore the feasibility of Multiple-Input-Multiple-Output (MIMO) communication through vibrations over human skin. Using off-the-shelf motors and piezo transducers as vibration transmitters and receivers, respectively, we build a 2x2 MIMO testbed to collect and analyze vibration signals from real subjects. Our analysis reveals that there exist multiple independent vibration channels between a pair of transmitter and receiver, confirming the feasibility of MIMO. Unfortunately, the slow ramping of mechanical motors and rapidly changing skin channels make it impractical for conventional channel sounding based channel state information (CSI) acquisition, which is critical for achieving MIMO capacity gains. To solve this problem, we …

Trajectory Similarity Learning With Auxiliary Supervision And Optimal Matching, Hanyuan Zhang, Xingyu Zhang, Qize Jiang, Baihua Zheng, Zhenbang Sun, Weiwei Sun, Changhu Wang

Research Collection School Of Computing and Information Systems

Trajectory similarity computation is a core problem in the field of trajectory data queries. However, the high time complexity of calculating the trajectory similarity has always been a bottleneck in real-world applications. Learning-based methods can map trajectories into a uniform embedding space to calculate the similarity of two trajectories with embeddings in constant time. In this paper, we propose a novel trajectory representation learning framework Traj2SimVec that performs scalable and robust trajectory similarity computation. We use a simple and fast trajectory simplification and indexing approach to obtain triplet training samples efficiently. We make the framework more robust via taking full …

Video-Grounded Dialogues With Pretrained Generation Language Models, Hung Le, Steven C. H. Hoi

Research Collection School Of Computing and Information Systems

Pre-trained language models have shown remarkable success in improving various downstream NLP tasks due to their ability to capture dependencies in textual data and generate natural responses. In this paper, we leverage the power of pre-trained language models for improving video-grounded dialogue, which is very challenging and involves complex features of different dynamics: (1) Video features which can extend across both spatial and temporal dimensions; and (2) Dialogue features which involve semantic dependencies over multiple dialogue turns. We propose a framework by extending GPT-2 models to tackle these challenges by formulating video-grounded dialogue tasks as a sequence-to-sequence task, combining both …

Query Graph Generation For Answering Multi-Hop Complex Questions From Knowledge Bases, Yunshi Lan, Jing Jiang

Research Collection School Of Computing and Information Systems

Previous work on answering complex questions from knowledge bases usually separately addresses two types of complexity: questions with constraints and questions with multiple hops of relations. In this paper, we handle both types of complexity at the same time. Motivated by the observation that early incorporation of constraints into query graphs can more effectively prune the search space, we propose a modified staged query graph generation method with more flexible ways to generate query graphs. Our experiments clearly show that our method achieves the state of the art on three benchmark KBQA datasets.

Efficient Vehicle Routing Optimization For Autistic Users, Mohammed Shabalah Abdulrahman Hasan

Student Works (2020-2029)

In recent years, daily life without a vehicle would be impossible. As an inevitable result, the number of vehicles on the road increases day by day in various large cities around the world. The increased number of vehicles is a big concern because it causes a lot of traffic congestions, especially during peak hours. Besides, there has been a rapid rise of on-demand Ride-Hailing Services (RHSs), such as Grab, Uber, EzCab, and MyCar, etc. This allows passengers with smartphones to place trip requests and assign them to drivers according to requester’s location and drivers' availability. In consequence, efficient routing algorithms …

Unsupervised Monocular Depth Estimation With Multi-Scale Structural Similarity Powered Loss Function, Kohan Ali

Student Works (2020-2029)

Depth Estimation refers to a set of techniques and algorithms that aim to obtain a representation of spatial information of a scene. Nowadays specific hardware such as sensors, radars and multiple-view-recording cameras are being used in order to acquire depth data of a scene. Modern approaches use deep learning to address this task by trying to learn depth information in a supervised manner. However, this approach requires a large amount ground-truth data for a particular scene so that a model can be trained successfully. Also preparing ground-truth data for a range of environments is a challenging and expensive task to …

Identification Of Microscopy Cell Images By Using Convolutional Neural Network Application, Ajis Norfatin Farisya

Student Works (2020-2029)

Breast cancer has been the major factor of cancer death and the second main cause of women’s deaths in the world. The false positive results of this cancer cell detection during the screening test leads to false treatment and emotional disturbance of the patients. Thus, breast cancer cell lines (MCF7) is used as the microscopy image samples together with the Human Bone Osteosarcoma Epithelial Cells (U2OS), and Human Hepatocyte as control to study the effectiveness of convolutional neural network (CNN) as a method of image recognition. The objectives of this study are to determine the ability of convolutional neural network …

Adaptive Large Neighborhood Search For Vehicle Routing Problem With Cross-Docking, Aldy Gunawan, Audrey Tedja Widjaja, Pieter Vansteenwegen, Vincent F. Yu

Research Collection School Of Computing and Information Systems

Cross-docking is considered as a method to manage and control the inventory flow, which is essential in the context of supply chain management. This paper studies the integration of the vehicle routing problem with cross-docking, namely VRPCD which has been extensively studied due to its ability to reducethe overall costs occurring in a supply chain network. Given a fleet of homogeneous vehicles for delivering a single type of product from suppliers to customers through a cross-dock facility, the objective of VRPCD is to determine the number of vehicles used and the corresponding vehicle routes, such that the vehicleoperational and transportation …

Next-Generation Self-Organizing Communications Networks: Synergistic Application Of Machine Learning And User-Centric Technologies, Chetana V. Murudkar

USF Tampa Graduate Theses and Dissertations

The telecommunications industry is going through a metamorphic journey where the 5G and 6G technologies will be deeply rooted in the society forever altering how people access and use information. In support of this transformation, this dissertation proposes a fundamental paradigm shift in the design, performance assessment, and optimization of wireless communications networks developing the next-generation self-organizing communications networks with the synergistic application of machine learning and user-centric technologies.

This dissertation gives an overview of the concept of self-organizing networks (SONs), provides insight into the “hot” technology of machine learning (ML), and offers an intuitive understanding of the user-centric (UC) …

Simulation-Based An Exploratory Analysis Of Drone Air Strike On Saudi Oilfields, Jiajun Zhang, Xiaochao Qian, Jinpeng Zhou, Xuanling Wang, Zhifeng Lu

Journal of System Simulation

Abstract: The incident of air strike in Sandi Arabia in September 2019 is taken as an example，A rapid analysis method for crisis events based on simulation is proposed. Combining the simulation with the exploratory analysis, the uncertainty of crisis events is comprehensively analyzed and dealt with. According to the public information of the incidents details from Sandi Arabia, Yemen, the combat situation of the air strike is replayed based on the wargaming. The rationality and authenticity of the details in the event statement is verified and can also provide reference to the development and combat research of the “Low, Small …

Multi-Tank Adaptive Scheduling Algorithm And Simulation For Ship Stability Realization, Xiong Yong, Xuanzhuo Liang, Zhang Jia

Journal of System Simulation

Abstract: Aiming at the influence of the oil tank on the floating state and stability of the ship, the multi-tank adaptive dispatching control algorithm to maintain the stability of the ship is studied. The automatic floating state adjustment simulation system of the ship is realized by the WinCC (Windows Control Center) configuration software. For the system architecture, the Boolean logic table is used to construct the connection relationships of the oil tanks, pumps and pipelines, and the amount of oil exchange between the cabins is calculated according to the floating equation, and the balance of the floating state in the …