雾霾图像清晰化算法综述

雾霾图像不仅影响视觉效果,而且模糊不清晰的图像容易为后续识别、理解等高层次任务带来困难。雾霾图像清晰化问题是一个典型的不适定问题,其成像过程难以精确建模,消除图像中的雾霾面临巨大的挑战。近年来,研究者提出大量的图像去雾算法克服雾霾引起的图像降质退化,为全面认识和理解图像清晰化算法,论文对其进行梳理和综述。首先,对雾霾图像清晰化算法进行整理,根据雾霾退化过程是否有模型支持,将清晰化算法分为基于Retinex模型、大气散射模型去雾算法和无模型图像去雾算法。大气散射模型是有模型算法中主流模型,本文详细剖析了模型成像机理,并根据其成像机制揭示大气散射模型容易受大气浓度均匀分布假设的限制,较难处理非均匀雾霾图像问题。基于深度学习的无模型图像去雾算法则不仅可以应对非均匀雾霾图像,而且去雾性能获得了极大地提升。其次,本文汇总了近年来常用去雾数据集,从数据集适应范围、规模、可扩展性等多个维度进行总结。并根据雾霾图像形成方式,对人工合成雾霾数据集和真实拍摄数据集分别从定性和定量的角度探讨了数据集对图像去雾算法的影响。     

基于深度强化学习的动态装配算法

针对动态装配环境中存在的复杂、动态的噪声扰动,提出一种基于深度强化学习的动态装配算法。将一段时间内的接触力作为状态,通过长短时记忆网络进行运动特征提取;定义序列贴现因子,对之前时刻的分奖励进行加权得到当前时刻的奖励值;模型输出的动作为笛卡尔空间位移,使用逆运动学调整机器人到达期望位置。与此同时,提出一种对带有资格迹的时序差分算法改进的神经网络参数更新方法,可缩短模型训练时间。在实验部分,首先在圆孔–轴的简单环境中进行预训练,随后在真实场景下继续训练。实验证明提出的方法可以很好地适应动态装配任务中柔性、动态的装配环境。     

Optimized tracking control using reinforcement learning strategy for a class of nonlinear systems

This paper is to develop a simplified optimized tracking control using reinforcement learning (RL) strategy for a class of nonlinear systems. Since the nonlinear control gain function is considered in the system modeling, it is challenging to extend the existing RL-based optimal methods to the tracking control. The main reasons are that these methods' algorithm are very complex; meanwhile, they also require to meet some strict conditions. Different with these exiting RL-based optimal methods that derive the actor and critic training laws from the square of Bellman residual error, which is a complex function consisting of multiple nonlinear terms, the proposed optimized scheme derives the two RL training laws from negative gradient of a simple positive function, so that the algorithm can be significantly simplified. Moreover, the actor and critic in RL are constructed by employing neural network (NN) to approximate the solution of Hamilton–Jacobi–Bellman (HJB) equation. Finally, the feasibility of the proposed method is demonstrated in accordance with both Lyapunov stability theory and simulation example.     

Event-triggered-based integral reinforcement learning output feedback optimal control for partially unknown constrained-input nonlinear systems

In this paper, an adaptive output feedback event-triggered optimal control algorithm is proposed for partially unknown constrained-input continuous-time nonlinear systems. First, a neural network observer is constructed to estimate unmeasurable state. Next, an event-triggered condition is established, and only when the event-triggered condition is violated will the event be triggered and the state be sampled. Then, an event-triggered-based synchronous integral reinforcement learning (ET-SIRL) control algorithm with critic-actor neural networks (NNs) architecture is proposed to solve the event-triggered Hamilton–Jacobi–Bellman equation under the established event-triggered condition. The critic and actor NNs are used to approximate cost function and optimal event-triggered optimal control law, respectively. Meanwhile, the event-triggered-based closed-loop system state and all the neural network weight estimation errors are uniformly ultimately bounded proved by Lyapunov stability theory, and there is no Zeno behavior. Finally, two numerical examples are presented to show the effectiveness of the proposed ET-SIRL control algorithm.     

Finite-time optimal tracking control for a class of nonlinear systems with prescribed performance

In this paper, a finite-time optimal tracking control scheme based on integral reinforcement learning is developed for partially unknown nonlinear systems. In order to realize the prescribed performance, the original system is transformed into an equivalent unconstrained system so as to a composite system is constructed. Subsequently, a modified nonlinear quadratic performance function containing the auxiliary tracking error is designed. Furthermore, the technique of experience replay is used to update the critic neural network, which eliminates the persistent of excitation condition in traditional optimal methods. By combining the prescribed performance control with the finite-time optimization control technique, the tracking error is driven to a desired performance in finite time. Consequently, it has been shown that all signals in the partially unknown nonlinear system are semiglobally practical finite-time stable by stability analysis. Finally, the provided comparative simulation results verify the effectiveness of the developed control scheme.     

F-BIDS: Federated-Blending based Intrusion Detection System

The rapid development of network communication along with the drastic increase in the number of smart devices has triggered a surge in network traffic, which can contain private data and in turn affect user privacy. Recently, Federated Learning (FL) has been proposed in Intrusion Detection Systems (IDS) to ensure attack detection, privacy preservation, and cost reduction, which are crucial issues in traditional centralized machine-learning-based IDS. However, FL-based approaches still exhibit vulnerabilities that can be exploited by adversaries to compromise user data. At the same time, meta-models (including the blending models) have been recognized as one of the solutions to improve generalization for attack detection and classification since they enhance generalization and predictive performances by combining multiple base models. Therefore, in this paper, we propose a Federated Blending model-driven IDS framework for the Internet of Things (IoT) and Industrial IoT (IIoT), called F-BIDS, in order to further protect the privacy of existing ML-based IDS. The proposition consists of a Decision Tree (DT) and Random Forest (RF) as base classifiers to first produce the meta-data. Then, the meta-classifier, which is a Neural Networks (NN) model, uses the meta-data during the federated training step, and finally, it makes the final classification on the test set. Specifically, in contrast to the classical FL approaches, the federated meta-classifier is trained on the meta-data (composite data) instead of user-sensitive data to further enhance privacy. To evaluate the performance of F-BIDS, we used the most recent and open cyber-security datasets, called Edge-IIoTset (published in 2022) and InSDN (in 2020). We chose these datasets because they are recent datasets and contain a large amount of network traffic including both malicious and benign traffic.     

基于改进深度学习的风机油污识别

针对风机设备油液渗漏影响风机正常运行亟需解决的对风机设备油污的识别问题,提出了一种基于改进深度学习的风机油污检测方法。基于深度学习在目标检测中的应用特点,对目标检测网络YOLOv5n（You Only Look Once v5n）进行改进,将原网络中的非极大抑制（Non Maximum Suppression,NMS）替换为Soft-NMS,降低了网络的误检率,添加CA (Coordinate Attention)注意力机制,增强了模型对目标的定位能力,改进原网络损失函数为α-IoU（Alpha- Intersection over Union）损失函数,提高了边界框检测的准确度。实验结果表明:模型平均精度提升了8.1%,查全率提高了19.1%,网络推理速度提高了28.6%。改进后的模型能准确检测风机油污,有效解决了风机实际运行中油液渗漏所带来的问题。     

苹果采摘机器人监测系统和表面缺陷检测方法研究

针对目前苹果采摘作业多以人工采摘为主,且机械化采摘质量和效率不高等问题,提出一种苹果采摘机器人监测系统。监测系统通过种植园环境、机器人运行状态、机器人作业质量以及后台监控系统四个模块,完成从采收前环境监测到采收后质量监测的全程监控。同时,为监测采摘后苹果的质量问题,提出了一种基于Mo-M2Det的苹果表面缺陷检测方法。以减少参数量和计算量为目的,改进M2Det目标检测网络,实现轻量化和高精度检测。实验结果表明,改进的M2Det目标检测网络检测准确率达到了98.45%,且模型参数量减少了56.3%。在实际应用中,改进的轻量化网络模型部署在检测平台上具有较好的检测效果。     

基于深度学习的人脸图像加密算法研究

图像作为视觉传达的重要信息载体,以一种直观、形象的方式向受众传递信息。但是,图像会在不知不觉中带来个人隐私信息泄露等安全隐患。本文从保护图像中隐私安全角度出发,深度融合人脸检测、人脸对齐方法以及混合混沌序列的图像加解密算法,提出了一种基于深度学习算法的人脸图像信息加密算法,即FIIE（Face Image Information Encryption ）算法,用于保护图片中的面部核心部位隐私信息。FIIE算法的具体描述如下：首先,采用WLDER FACE数据集中的人脸图像对MTCNN模型展开训练,并利用训练好的模型根据人脸特征点获取图像中人脸所在的矩形框坐标;然后,通过上述人脸区域坐标生成掩膜,运用生成的掩膜使原图与Logistic混沌序列做位运算,最后,对图像中人脸特定区域的加密。通过实验表明,本算法可以准确识别图像中人脸信息特定区域,实现对图像中面部信息的有效加密,保障用户的隐私安全。     

基于PP-PicoDet技术的智能垃圾分类

目前在垃圾分类目标检测上大多采用YOLOv5系列算法,该算法在相同参数量的情况下,检测精度和检测速度都相对不太高,难以满足实际应用需求。论文对基于PP-PicoDet技术的垃圾分类目标检测应用进行了研究,并将其与几种常见的垃圾分类目标检测算法进行实验对比分析;结果表明,PP-PicoDet算法能够在使用更少的参数量的情况下,实现较高的检测精度和速度,能够满足移动端部署需求。