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Application and Cultivation on Mathematical Thinking in Artificial Intelligence 数学思维在人工智能中的应用与培养
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570967
Jie Shen, Qinglin Wu
{"title":"Application and Cultivation on Mathematical Thinking in Artificial Intelligence","authors":"Jie Shen, Qinglin Wu","doi":"10.1109/IRCE53649.2021.9570967","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570967","url":null,"abstract":"Mathematical thinking is the basis of the development of artificial intelligence, which is the ability to think and solve problems from the mathematical viewpoint. Based on the analysis of the connotation and function of mathematical thinking, this paper discusses mathematical thinking required in artificial intelligence, then expounds the mathematical thinking cultivation method in artificial intelligence. Finally, the typical application of mathematical thinking in artificial intelligence is deeply discussed. Through the research on mathematical thinking in artificial intelligence, it is conducive to further embody the function of mathematical thinking, and promote artificial intelligence development in the theory and the practice level.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125349860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Medical Image Registration Based on Mutual Information and Hybrid Algorithm 基于互信息和混合算法的医学图像配准
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570982
Lv Yaoming, Jia Dayu, Tian Yuan, Xia Peiyan, Chang Qing, Shi Jinchi
{"title":"Medical Image Registration Based on Mutual Information and Hybrid Algorithm","authors":"Lv Yaoming, Jia Dayu, Tian Yuan, Xia Peiyan, Chang Qing, Shi Jinchi","doi":"10.1109/IRCE53649.2021.9570982","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570982","url":null,"abstract":"Aiming at the problem that the existing traditional medical image registration algorithm is easy to fall into the local extremum and low registration accuracy, this paper proposes a hybrid optimization algorithm which combines the downhill simplex algorithm and firefly algorithm as an optimization strategy and takes mutual information as the similarity measure to complete the chest image registration tasks. The hybrid optimization algorithm takes the parameter optimization result of decreasing simplex as the initial solution of the firefly algorithm, and further optimizes to obtain the global optimal value. In the case of local optimum, it can avoid the mutual information function when the downhill simplex algorithm is used alone., and it can effectively improve the computational efficiency of the firefly algorithm. The experimental results show that the proposed algorithm can improve the registration time and registration effect significantly, and can complete the medical image registration tasks better.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125560783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Comparing Active Learning with Random Selection when Building Predictive Models 建立预测模型时主动学习与随机选择的比较
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570885
Fangliang Wu
{"title":"Comparing Active Learning with Random Selection when Building Predictive Models","authors":"Fangliang Wu","doi":"10.1109/IRCE53649.2021.9570885","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570885","url":null,"abstract":"In order to study whether active machine learning would provide more efficient construction of a predictive model than random selection of experiments, this paper describes an experiment about comparing the accuracy of the models built by these two algorithms. The experiment is based on a data set which describes the diagnosis of different cancer cells. In the experiment, the author established an active learning algorithm and a random selection algorithm, and applied them to a variety of common predictive models. The evaluation process, which includes cross-validation and learning curve, compares these two algorithms’ accuracy under different amounts of training data. It is found that in most cases, the active learning algorithm can obtain higher accuracy with less data compared with the random selection algorithm.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122272794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Realization of an UAV 3D Track Accuracy Evaluation and Detection Device 无人机三维航迹精度评估与检测装置的设计与实现
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570987
Yaofang Zhang, Hui Dong, Feiyu Song
{"title":"Design and Realization of an UAV 3D Track Accuracy Evaluation and Detection Device","authors":"Yaofang Zhang, Hui Dong, Feiyu Song","doi":"10.1109/IRCE53649.2021.9570987","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570987","url":null,"abstract":"For evaluating the performance of UAV system more pertinently, a device for detecting the accuracy of the UAV’s three-dimensional trajectory is designed. The detection device is designed with a universal mounting structure, which is compatible with a variety of mainstream models of UAV. Through differential GPS post-processing of the satellite positioning data of the airborne positioning module and the external storage module on the ground, combined with the planned track data, The detection accuracy of centimeter level can be obtained. The whole system evaluates the flight track of the UAV through three indicators: flight control deviation, track similarity and navigation and positioning error. The evaluation result can reflect the aircraft’s track accuracy relatively comprehensively. At present, the device has been deployed and put into use in a laboratory of Yunnan Power Grid. The engineering application effect is good, and it can be used as an important index item for UAV performance testing","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"273 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134243595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Guideline Navigation System Based on Deep Learning 基于深度学习的导航系统研究
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570850
Shouqun Ming, Lili Wang, Zhimin Hong, Lele Kang, Bowen Zhuang
{"title":"Research on Guideline Navigation System Based on Deep Learning","authors":"Shouqun Ming, Lili Wang, Zhimin Hong, Lele Kang, Bowen Zhuang","doi":"10.1109/IRCE53649.2021.9570850","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570850","url":null,"abstract":"In order to solve the problem of the environmental information that the vision impairment cannot perceive itself due to its own vision defects, a navigation system based on Faster RCNN depth learning is proposed. The navigation system utilizes the improved RESNET50 for the backbone network training data, and the visual sensor recognizes the environmental target, the identified blind, obstacles, etc. will be admitted to the thresholded thresholded threshold, the determination position, follow the blind trajectory and avoid the obstacle. Complete the path planning of the four-wheeled mobile robot to the outdoor environment. Through the ROS robot operating system, build an experimental platform, verify the improved algorithm, effectively prove to meet the navigation needs of the vision impairment.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"795 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117039400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Attitude Control of Spacecraft Formation under Directional Constraints 方向约束下航天器编队姿态控制
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570978
Xing Yanjun, Gao Xiangbo, L. Tieying, Ye Dong, Zhang Jiaxun
{"title":"Attitude Control of Spacecraft Formation under Directional Constraints","authors":"Xing Yanjun, Gao Xiangbo, L. Tieying, Ye Dong, Zhang Jiaxun","doi":"10.1109/IRCE53649.2021.9570978","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570978","url":null,"abstract":"In order to solve the problem of large-angle and high-precision reorientation of spacecraft under external directional constraints, a spacecraft attitude control method is proposed. Firstly, a strictly lower convex logarithmic boundary potential function is designed based on the formation member’s attitude; then a new sliding mode surface is designed to meet the attitude and the angular velocity amplitude constraints, and the switching strategy of intermediate variables is proposed based on the existence condition of the repulsive potential function, and then the adaptive coordination tracking controller under the saturation of the actuator is designed. Finally, the effectiveness of the design is verified by simulation analysis.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121933556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Few-shot Object Detection for Plateau Wildlife Images 高原野生动物图像的少镜头目标检测
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570930
Hong Cao, Zhiqiang Wu, Zhicheng Dong, Fujian Feng, Wei Xiao
{"title":"Few-shot Object Detection for Plateau Wildlife Images","authors":"Hong Cao, Zhiqiang Wu, Zhicheng Dong, Fujian Feng, Wei Xiao","doi":"10.1109/IRCE53649.2021.9570930","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570930","url":null,"abstract":"For few-shot object detection has attracted wide attention. Plateau wildlife detection is a typical problem of few-shot object detection. The solution of this problem can reduce the manpower and material resources of collecting and marking large-scale wildlife data sets. Deep neural network can significantly improve the efficiency of wildlife detection, and the key step is to obtain a large amount of data with bounding box annotations. However, there are few plateau wildlife pictures with labeling, which is insufficient to support the training of deep neural network. In this paper, we propose a target detection method based on few-shot learning to detect plateau wildlife images, where each animal category has only a small number of annotated bounding boxes (no more than 10). we use two-stage training method to solve the task of small samples detection task. Based on the two-stage target detector Faster R-CNN, we established a few shot target detection model. The training is divided into two stages. The first stage is to train the model on the basic set, and the second stage is to adjust the balance set of the new class and the base class on the last layer. In order to further improve the detection effect, the two-stage training adopts data enhancement methods to expand the sample data. Experimental results show that this model can achieve better detection effect on plateau wildlife pictures with a small number of labeled samples.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124628474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Motion Control Method of Rigid Flexible Coupling System Based on Input Shaping 基于输入整形的刚柔耦合系统运动控制方法研究
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570962
Siyun Liu, Wenhao Xian, Qingjie Qi, Yingjie Liu, T. Ma, Jingwen Zhang
{"title":"Research on Motion Control Method of Rigid Flexible Coupling System Based on Input Shaping","authors":"Siyun Liu, Wenhao Xian, Qingjie Qi, Yingjie Liu, T. Ma, Jingwen Zhang","doi":"10.1109/IRCE53649.2021.9570962","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570962","url":null,"abstract":"In recent years, rigid flexible coupling structure has been widely used in robots. However, its nonlinear deformation increases the residual vibration of the system, which causes a great challenge to the motion control of robots. In this paper, a kind of motion control algorithm based on input shaping is proposed. Based on the analysis of the vibration modes of the system, motion controllers are designed based on three typical input shaping algorithms, which not only make the rigid flexible coupling system can respond quickly, but also reduce the residual vibration in the process of motion. The effectiveness, robustness and real-time performance of the motion control algorithm are verified by numerical simulation and motion control experiments. The study results of this paper lay the foundation for the motion control of complex robot and exoskeleton system.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124019445","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Consensus of the Leaderless Second-order Heterogeneous Linear Multi-agent System 无领导二阶异构线性多智能体系统的一致性
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570992
Yangzhou Chen, Guangyue Xu, Jingyuan Zhan
{"title":"Consensus of the Leaderless Second-order Heterogeneous Linear Multi-agent System","authors":"Yangzhou Chen, Guangyue Xu, Jingyuan Zhan","doi":"10.1109/IRCE53649.2021.9570992","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570992","url":null,"abstract":"This paper studies the state consensus problem of a leaderless second-order heterogeneous linear multi-agent system under a fixed directed communication topology. First, this paper proposes a generic consensus protocol with different gain matrices and communication weights in matrix form. Then, this paper adopts a state linear transformation based on a virtual directed spanning tree of the communication topology to convert the consensus problem into a partial variable stability problem. For the second-order systems of general form and a special form, this paper deduces sufficient and necessary consensus criteria in terms of Hurwitz stability of corresponding matrices, respectively. According to these criteria, iterative algorithms are presented to find the gain matrices in the protocol by solving some bilinear matrix inequalities. Finally, the effectiveness of the proposed theoretic results are verified by providing simulation examples of leaderless heterogeneous multi-agent systems in general and special cases.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131464772","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Diameter Feedback Control Sub-system as On-line State Estimator for Growth Control in Czochralski Process 直径反馈控制子系统作为在线状态估计器用于Czochralski过程的生长控制
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570891
Yinming Liu, Hongxin Li, Shih-Chin Chen, Liang Chen
{"title":"Diameter Feedback Control Sub-system as On-line State Estimator for Growth Control in Czochralski Process","authors":"Yinming Liu, Hongxin Li, Shih-Chin Chen, Liang Chen","doi":"10.1109/IRCE53649.2021.9570891","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570891","url":null,"abstract":"The state variables in the Czochralski crystal growth process have an important influence on crystal structure and properties. In this paper, in order to enhance the accuracy of state estimation, a diameter feedback control subsystem is designed, and Unscented Kalman Filter(UKF) is used for online state estimation. The system is a nonlinear system with pulling speed and power as input and diameter as output, two feedforward curves of growth rate and power are added in this paper. Since the controlling time of pulling speed on the diameter is shorter than the time of power on the diameter, the closed-loop control subsystem composed of pulling speed-diameter, which is used as the measurement subsystem of the power-growth rate closed-loop control subsystem, the two subsystems together constitute the diameter feedback subsystem to estimate the state variables online. Based on the crystal growth model, the relationship between various state variables in the system is given, and the UKF is designed to estimate the true radius of the crystal and the height of the meniscus. The experimental results show that UKF has a good filtering effect and higher state estimation accuracy under this control system.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125138744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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