Discriminative graph convolution networks for hyperspectral image classification

Recently, the proposal of graph convolutional networks (GCN) has successfully implemented into hyperspectral image data representation and analysis. In spite of the great success, there are still several major challenges in hyperspectral image classification, including within-class diversity, and between-class similarity, which generally degenerate hyperspectral image classification performance. To address the problems, we propose a discriminative graph convolution networks (DGCN) for hyperspectral image classification. This method introduces the concepts of within-class scatter and between-class scatter, which respectively reflect the global geometric structure and discriminative information of the input space. The experimental results on the hyperspectral data sets show that the proposed method has good classification performance.     

基于深度残差学习的自动驾驶道路场景理解

随着道路场景理解技术的快速发展，自主驾驶领域取得了长足的进步。在相关任务中，包括道路分割、分类和车辆检测的实时性和准确性是安全性的一个关键问题。为此，提出了一个具有编/解码器网络结构的基于深度残差学习的方法。一方面，编码器网络结构使用不同层次的残差网络来提取高维中的抽象特征，这些特征在接下来的三个任务中共享使用；另一方面，解码器网络结构采用一种子任务的并行计算机制，即道路分割、车辆检测和道路分类任务同时执行。此外，全卷积神经网络用于对提取的图像特征进行上采样以解决道路分割问题。最终，实验结果表明在保证高精度的前提下处理帧率可达到15 fps以上。     

Distributed learning consensus control based on neural networks for heterogeneous nonlinear multiagent systems

This paper considers a novel distributed iterative learning consensus control algorithm based on neural networks for the control of heterogeneous nonlinear multiagent systems. The system's unknown nonlinear function is approximated by suitable neural networks; the approximation error is countered by a robust term in the control. Two types of control algorithms, both of which utilize distributed learning laws, are provided to achieve consensus. In the provided control algorithms, the desired reference is considered to be an unknown factor and then estimated using the associated learning laws. The consensus convergence is proven by the composite energy function method. A numerical simulation is ultimately presented to demonstrate the efficacy of the proposed control schemes.     

Improved non-maximum suppression for object detection using harmony search algorithm

Non-maximum suppression (NMS) plays a key role in many modern object detectors. It is responsible to remove detection boxes that cover the same object. NMS greedily selects the detection box with maximum score; other detection boxes are suppressed when the degree of overlap between these detection boxes and the selected box exceeds a predefined threshold. Such a strategy easily retain some false positives, and it limits the ability of NMS to perceive nearby objects in cluttered scenes. This paper proposes an effective method combining harmony search algorithm and NMS to alleviate this problem. This method regards the task of NMS as a combination optimization problem. It seeks final detection boxes under the guidance of an objective function. NMS is applied to each harmony to remove imprecise detection boxes, and the remaining boxes are used to calculate the fitness value. The remaining detection boxes in a harmony with highest fitness value are chosen as the final detection results. The standard Pattern Analysis, Statistical Modeling and Computational Learning Visual Object Classes dataset and the Microsoft Common Objects in Context dataset are used in all of the experiments. The proposed method is applied to two popular detection networks, namely Faster Region-based Convolutional Neural Networks and Region-based Fully Convolutional Networks. The experimental results show that the proposed method improves the average precision of these two detection networks. Moreover, the location performance and average recall of these two detectors are also improved.     

Deep reinforcement learning-based cooperative interactions among heterogeneous vehicular networks

Most real-world vehicle nodes can be structured into an interconnected network of vehicles. Through structuring these services and vehicle device interactions into multiple types, such internet of vehicles becomes multidimensional heterogeneous overlay networks. The heterogeneousness of the overlays makes it difficult for the overlay networks to coordinate with each other to improve their performance. Therefore, it poses an interesting but critical challenge to the effective analysis of heterogeneous virtual vehicular networks. A variety of virtual vehicular networks can be easily deployed onto the native network by applying the concept of SDN (Software Defined Networking). These virtual networks reflect their heterogeneousness due to their different performance goals, and they compete for the same physical resources of the underlying network, so that a sub-optimal performance of the virtual networks may be achieved. Therefore, we propose a Deep Reinforcement Learning (DRL) approach to make the virtual networks cooperate with each other through the SDN controller. A cooperative solution based on the asymmetric Nash bargaining is proposed for co-existing virtual networks to improve their performance. Moreover, the Markov Chain model and DRL resolution are introduced to leverage the heterogeneous performance goals of virtual networks. The implementation of the approach is introduced, and simulation results confirm the performance improvement of the latency sensitive, loss-rate sensitive and throughput sensitive heterogeneous vehicular networks using our cooperative solution.     

改进HSR-FCN的服装图像识别分类算法研究

目前网络上的服装图像数量增长迅猛，对于大量服装图像实现智能分类的需求日益增加。将基于区域的全卷积网络（Region-Based Fully Convolutional Networks，R-FCN）引入到服装图像识别中，针对服装图像分类中网络训练时间长、形变服装图像识别率低的问题，提出一种新颖的改进框架HSR-FCN。新框架将R-FCN中的区域建议网络和HyperNet网络相融合，改变图片特征学习方式，使得HSR-FCN可以在更短的训练时间内达到更高的准确率。在模型中引入了空间转换网络，对输入服装图像和特征图进行了空间变换及对齐，加强了对多角度服装和形变服装的特征学习。实验结果表明，改进后的HSR-FCN模型有效地加强了对形变服装图像的学习，且在训练时间更短的情况下，比原来的网络模型R-FCN平均准确率提高了大约3个百分点，达到96.69%。     

Distributed model reference adaptive containment control of heterogeneous uncertain multi-agent systems

In this paper, a distributed model reference adaptive control (MRAC) design framework is proposed for containment control of heterogeneous uncertain multi-agent systems (MAS). Both groups of leaders and followers are considered to have general linear dynamics with the leaders subject to bounded external inputs and the followers subject to uncertain system dynamics. Two distributed adaptive control protocols are developed under this framework. The first protocol assumes measurable leaders’ input signals for a subset of the followers, and employs distributed observers with state-feedback adaptive controllers to achieve exact containment control performance. The second protocol incorporates robust adaptive control with nonlinear compensator techniques to handle a more challenging scenario of unmeasurable bounded leaders’ inputs. Convergence of the containment control errors to an arbitrarily adjustable neighborhood of the origin is guaranteed with the second protocol. The proposed MRAC framework provides a promising alternative solution over the prevailing cooperative output regulation framework for heterogeneous linear MAS containment control. It enables us to handle more general system settings under more stringent control environments with limited accessibility of leaders’ information and uncertain follower dynamics. Effectiveness and usefulness of the proposed approaches are demonstrated through extensive simulation studies, including an application to containment control of multiple nonholonomic mobile robots.     

Distributed adaptive neural networks leader-following formation control for quadrotors with directed switching topologies

The leader-following formation problem is discussed for a team of quadrotors under directed switching topologies. To obtain a more general dynamic model, we describe the quadrotor system in a non-affine pure-feedback form with mismatched unknown nonlinearities. By employing an adaptive neural networks state observer to approximate the unknown nonlinear functions and to reconstruct the immeasurable inner states, we propose a novel distributed output feedback formation control protocol with the backstepping method combining with the dynamic surface control technique. From the Lyapunov stability theorem, all signals in the closed-loop formation system are proven to be cooperatively semiglobally uniformly ultimately bounded for any given bounded initial conditions. Finally, we proved that we verify the performance of the proposed formation control approach by a simulation study.     

An efficient numerical scheme for solving fractional infinite-horizon optimal control problems

This paper presents an efficient numerical method to solve fractional infinite-horizon optimal control problems, where the dynamic control system depends on Caputo fractional derivatives. First, by a suitable change of variable, we transform the fractional infinite-horizon optimal control problem to a finite-horizon one. Then, with the help of an approximation, we replace the Caputo derivative to integer order derivative. According to the Pontryagin minimum principle (PMP) for optimal control problems and by constructing an error function, we define an unconstrained minimization problem. In the optimization problem, we use trial solutions for state, costate and control functions where these trial solutions are constructed by using two-layered perceptron neural network. Some numerical results are introduced to explain our main results.     

基于概率感知模型的多节点联合网络覆盖算法

针对传感网在对关注目标节点进行覆盖过程中出现的非连续性覆盖，将会产生覆盖盲区以及大量冗余数据迫使通信链路出现瓶颈现象，提出了一种基于概率感知模型的多节点联合覆盖算法（Multi-Node Joint Network Coverage Algorithm，MNJC）。该算法借助于概率相关知识，给出了多节点联合时覆盖质量期望值计算方法，以减少覆盖盲区的产生，提高了多节点联合网络覆盖率；利用节点动态转换机制对节点部署进行重新优化，抵制了网络能量的快速消耗，延长网络生存周期；该算法与其他三种算法覆盖率、生存周期以及节点存活数量等方面进行了比对实验，其性能指标平均提升了18.11%，15.57%和8.26%，从而验证该算法的有效性和实效性。