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XMe - Xiamen Molecular Electronics Code:An Intelligent and Open-Source Data Analysis Tool for Single-Molecule Conductance Measurements

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Chinese Journal of Chemistry 2024年第3期42卷 317-329页

作者： Zhichao Pan Gang Dong Chi Shang Ruihao Li Tengyang Gao Luchun Lin Huicong Duan Xiaohui Li Jie Bai Yilin Lai Wenfeng Wu Jia Shi Junyang Liu Wenjing Hong State Key Laboratory of Physical Chemistry of Solid Surfaces College of Chemistry and Chemical Engineering & Institute of Artificial IntelligenceXiamen UniversityXiamenFujian361005 China School of artificial intelligence Guilin University of Electronic TechnologyGuilinGuangxi541004 China

Charge transport characterization of single-molecule junctions is essential for the fundamental research of single-molecule physical chemistry and the development towards single-molecule electronic devices and circuits. Among the single-molecule conductance characterization techniques,the single-molecule break junction technique is widely used in tens of worldwide research laboratories which can generate a large amount of experimental data from thousands of individual measurement cycles. However,data interpretation is a challenging task for researchers with different research backgrounds,and the different data analysis approaches sometimes lead to the misunderstanding of the measurement data and even reproducibility issues of the measurement. It is thus a necessity to develop a user-friendly all-in-one data analysis tool that automatizes the basic data analysis in a standard and widely accepted way. In this work,we present the XMe Code (Xiamen Molecular Electronics Code),an intelligent all-in-one data analysis tool for the comprehensive analysis of single-molecule break junction data. XMe code provides end-to-end data analysis that takes in the original experimental data and returns electronic characteristics and even charge transport mechanisms. We believe that XMe Code will promote the transparency of the data analysis in single-molecule electronics and the collaborations among scientists with different research backgrounds.

关键词： Molecular electronics Single-molecule studies Break junction Data science Software

Expression Recognition Method Based on Convolutional Neural Network and Capsule Neural Network

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Computers, Materials & Continua 2024年第4期79卷 1659-1677页

作者： Zhanfeng Wang Lisha Yao School of Computer Science and artificial intelligence Chaohu UniversityHefei238000China School of Big Data and artificial intelligence Anhui Xinhua UniversityHefei230088China

Convolutional neural networks struggle to accurately handle changes in angles and twists in the direction of images,which affects their ability to recognize patterns based on internal feature levels. In contrast, CapsNet overcomesthese limitations by vectorizing information through increased directionality and magnitude, ensuring that spatialinformation is not overlooked. Therefore, this study proposes a novel expression recognition technique calledCAPSULE-VGG, which combines the strengths of CapsNet and convolutional neural networks. By refining andintegrating features extracted by a convolutional neural network before introducing theminto CapsNet, ourmodelenhances facial recognition capabilities. Compared to traditional neural network models, our approach offersfaster training pace, improved convergence speed, and higher accuracy rates approaching stability. Experimentalresults demonstrate that our method achieves recognition rates of 74.14% for the FER2013 expression dataset and99.85% for the CK+ expression dataset. By contrasting these findings with those obtained using conventionalexpression recognition techniques and incorporating CapsNet’s advantages, we effectively address issues associatedwith convolutional neural networks while increasing expression identification accuracy.

关键词： Expression recognition capsule neural network convolutional neural network

Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual

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Tsinghua Science and Technology 2024年第1期29卷 244-256页

作者： Wenjie Geng Zhiqiang Cao Peiyu Guan Fengshui Jing Min Tan Junzhi Yu State Key Laboratory of Multimodal artificial intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of artificial intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Grasp detection plays a critical role for robot manipulation.Mainstream pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and efficiency.However,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are neglected.It is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains unsolved.Meanwhile,the channel information in high-level feature is also not well mined.Inevitably,the performance of grasp detection is degraded.To solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle residual.Both low-level and high-level features in the encoder are firstly fused by the designed skip connections with attention module,and the fused information is then propagated to corresponding layers of the decoder for in-depth feature fusion.Such a hierarchical fusion guarantees the quality of grasp prediction.Furthermore,an inverted shuffle residual module is created,where the high-level feature from encoder is split in channel and the resultant split features are processed in their respective branches.By such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the network.Besides,an information enhancement module is added before the encoder to reinforce input information.The proposed method attains 98.9%and 97.8%in image-wise and object-wise accuracy on the Cornell grasping dataset,respectively,and the experimental results verify the effectiveness of the method.

关键词： grasp detection hierarchical multi-scale feature fusion skip connections with attention inverted shuffle residual

A Bio-Inspired Integration Model of Basal Ganglia and Cerebellum for Motion Learning of a Musculoskeletal Robot

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Journal of Systems Science & Complexity 2024年第1期37卷 82-113页

作者： ZHANG Jinhan CHEN Jiahao ZHONG Shanlin QIAO Hong State Key Laboratory of Multimodal artificial intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of artificial intelligence University of Chinese Academy of SciencesBeijing 100049China.

It is a significant research direction for highly complex musculoskeletal robots that how to develop the ability of motion learning and generalization.The cooperations of multiple brain regions are crucial to improving motion performance.Inspired by the neural mechanisms of structures,functions,and interconnections of basal ganglia and cerebellum,a biologically inspired integration model for motor learning of musculoskeletal robots is proposed.Based on the neural characteristics of the basal ganglia,the basal ganglia actor network,which mainly simulates the dorsal striatum,outputs motion commands,and the basal ganglia critic network,which simulates the ventral striatum,estimates actionstate values.Their network parameters are updated using the soft actor-critic method.Based on the sensorimotor prediction mechanism of the cerebellum,the cerebellum network evaluates the state feature extraction quality of the basal ganglia actor network and then updates the weights of its feature layer.This learning method is proven to converge to the optimal policy.Furthermore,drawing on the mechanism of dopaminergic dynamic regulation in the basal ganglia,the adaptive adjustment of target entropy and the dopaminergic experience replay are proposed to further improve the integration model,which contributes to the exploration-exploitation trade-off of motor learning.The bio-inspired integration model is validated on a musculoskeletal system.Experimental results indicate that this model can effectively control the musculoskeletal robot to accomplish the motion task from random starting locations to random target positions with high precision and robustness.

关键词： Basal ganglia and cerebellum bio-inspired integration model motion learning musculoskeletal robot reinforcement learning.

A novel graph oversampling framework for node classification in class-imbalanced graphs

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Science China(Information Sciences) 2024年第6期67卷 214-229页

作者： Riting XIA Chunxu ZHANG Yan ZHANG Xueyan LIU Bo YANG Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University college of artificial intelligence Jilin University college of Computer Science and Technology Jilin University college of Communication Engineering Jilin University

Graph neural network(GNN) is a promising method to analyze graphs. Most existing GNNs adopt the class-balanced assumption, which cannot deal with class-imbalanced graphs well. The oversampling technique is effective in alleviating class-imbalanced problems. However, most graph oversampling methods generate synthetic minority nodes and their edges after applying GNNs. They ignore the problem that the representations of the original and synthetic minority nodes are dominated by majority nodes caused by aggregating neighbor information through GNN before oversampling. In this paper, we propose a novel graph oversampling framework, termed distribution alignment-based oversampling for node classification in classimbalanced graphs(named Graph-DAO). Our framework generates synthetic minority nodes before GNN to avoid the dominance of majority nodes caused by message passing in GNNs. Additionally, we introduce a distribution alignment method based on the sum-product network to learn more information about minority nodes. To our best knowledge, it is the first to use the sum-product network to solve the class-imbalanced problem in node classification. A large number of experiments on four real datasets show that our method achieves the optimal results on the node classification task for class-imbalanced graphs.

关键词： graph neural network class-imbalanced graphs sum-product network oversampling node classification

Prescribed-Time Fully Distributed Nash Equilibrium Seeking Strategy in Networked Games

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 261-263页

作者： Cheng Qian Lei Ding the Institute of Advanced Technology for Carbon Neutrality College of Automation&the College of Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023China IEEE

Dear Editor, This letter is concerned with prescribed-time fully distributed Nash equilibrium seeking for networked games under directed graphs. An adaptive algorithm is proposed to ensure the convergence of all players to the Nash equilibrium without requiring any knowledge of global parameters. Moreover, it is theoretically proved that the convergence time of the proposed seeking strategy can be predefined based on practical requirements. Finally, a numerical example is presented to validate the effectiveness of the proposed method.

关键词： parameters seeking prescribed

CAW-YOLO:Cross-Layer Fusion and Weighted Receptive Field-Based YOLO for Small Object Detection in Remote Sensing

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Computer Modeling in Engineering & Sciences 2024年第6期139卷 3209-3231页

作者： Weiya Shi Shaowen Zhang Shiqiang Zhang college of artificial intelligence and Big Data Henan University of TechnologyZhengzhou450001China college of Information Science and Engineering Henan University of TechnologyZhengzhou450001China

In recent years,there has been extensive research on object detection methods applied to optical remote sensing images utilizing convolutional neural networks.Despite these efforts,the detection of small objects in remote sensing remains a formidable challenge.The deep network structure will bring about the loss of object features,resulting in the loss of object features and the near elimination of some subtle features associated with small objects in deep layers.Additionally,the features of small objects are susceptible to interference from background features contained within the image,leading to a decline in detection accuracy.Moreover,the sensitivity of small objects to the bounding box perturbation further increases the detection difficulty.In this paper,we introduce a novel approach,Cross-Layer Fusion and Weighted Receptive Field-based YOLO(CAW-YOLO),specifically designed for small object detection in remote sensing.To address feature loss in deep layers,we have devised a cross-layer attention fusion module.Background noise is effectively filtered through the incorporation of Bi-Level Routing Attention(BRA).To enhance the model’s capacity to perceive multi-scale objects,particularly small-scale objects,we introduce a weightedmulti-receptive field atrous spatial pyramid poolingmodule.Furthermore,wemitigate the sensitivity arising from bounding box perturbation by incorporating the joint Normalized Wasserstein Distance(NWD)and Efficient Intersection over Union(EIoU)losses.The efficacy of the proposedmodel in detecting small objects in remote sensing has been validated through experiments conducted on three publicly available datasets.The experimental results unequivocally demonstrate the model’s pronounced advantages in small object detection for remote sensing,surpassing the performance of current mainstream models.

关键词： Small object detection attention mechanism cross-layer fusion discrete cosine transform

Dynamic SLAM Visual Odometry Based on Instance Segmentation:A Comprehensive Review

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Computers, Materials & Continua 2024年第1期78卷 167-196页

作者： Jiansheng Peng Qing Yang Dunhua Chen Chengjun Yang Yong Xu Yong Qin college of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of artificial intelligence and Manufacturing Hechi UniversityHechi547000China

Dynamic Simultaneous Localization and Mapping(SLAM)in visual scenes is currently a major research area in fields such as robot navigation and autonomous driving.However,in the face of complex real-world envi-ronments,current dynamic SLAM systems struggle to achieve precise localization and map construction.With the advancement of deep learning,there has been increasing interest in the development of deep learning-based dynamic SLAM visual odometry in recent years,and more researchers are turning to deep learning techniques to address the challenges of dynamic SLAM.Compared to dynamic SLAM systems based on deep learning methods such as object detection and semantic segmentation,dynamic SLAM systems based on instance segmentation can not only detect dynamic objects in the scene but also distinguish different instances of the same type of object,thereby reducing the impact of dynamic objects on the SLAM system’s positioning.This article not only introduces traditional dynamic SLAM systems based on mathematical models but also provides a comprehensive analysis of existing instance segmentation algorithms and dynamic SLAM systems based on instance segmentation,comparing and summarizing their advantages and disadvantages.Through comparisons on datasets,it is found that instance segmentation-based methods have significant advantages in accuracy and robustness in dynamic environments.However,the real-time performance of instance segmentation algorithms hinders the widespread application of dynamic SLAM systems.In recent years,the rapid development of single-stage instance segmentationmethods has brought hope for the widespread application of dynamic SLAM systems based on instance segmentation.Finally,possible future research directions and improvementmeasures are discussed for reference by relevant professionals.

关键词： Dynamic SLAM instance segmentation visual odometry

Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

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Defence Technology（防务技术） 2024年第4期34卷 19-28页

作者： Xiang-long Liang Zhi-kai Yao Yao-wen Ge Jian-yong Yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China college of Automation&college of artificial intelligence Nanjing University of Post and TelecommunicationNanjing210023China

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.

关键词： Adaptive control Reinforcement learning Uncertain mechanical systems Asymptotic tracking