Wei Xing Zheng

Qian Feng, Wei Xing Zheng, Xiaoyu Wang et al.

This paper introduces an effective framework for designing memoryless dissipative full-state feedback for general linear delay systems via the KrasovskiÄ­ functional (KF) approach, where an arbitrary finite number of pointwise and general distributed delays (DDs) exists in the state, input and output. To handle the infinite dimensionality of DDs, we employ the Kronecker-Seuret Decomposition (KSD) which we recently proposed for analyzing matrix-valued functions in the context of delay systems. The KSD enables factorization or least-squares approximation of any number of $\fL^2$ DD kernels from any number of DDs without introducing conservatism. This also facilitates the construction of a complete-type KF with flexible integral kernels by means of a novel integral inequality derived from the least-squares principle. Our solution includes two theorems and an iterative algorithm to compute controller gains without relying on nonlinear solvers. A numerical example is tested to show the effectiveness of the proposed approach.

Hongpeng Zhou, Chahine Ibrahim, Wei Xing Zheng et al.

This paper proposes a sparse Bayesian treatment of deep neural networks (DNNs) for system identification. Although DNNs show impressive approximation ability in various fields, several challenges still exist for system identification problems. First, DNNs are known to be too complex that they can easily overfit the training data. Second, the selection of the input regressors for system identification is nontrivial. Third, uncertainty quantification of the model parameters and predictions are necessary. The proposed Bayesian approach offers a principled way to alleviate the above challenges by marginal likelihood/model evidence approximation and structured group sparsity-inducing priors construction. The identification algorithm is derived as an iterative regularised optimisation procedure that can be solved as efficiently as training typical DNNs. Remarkably, an efficient and recursive Hessian calculation method for each layer of DNNs is developed, turning the intractable training/optimisation process into a tractable one. Furthermore, a practical calculation approach based on the Monte-Carlo integration method is derived to quantify the uncertainty of the parameters and predictions. The effectiveness of the proposed Bayesian approach is demonstrated on several linear and nonlinear system identification benchmarks by achieving good and competitive simulation accuracy. The code to reproduce the experimental results is open-sourced and available online.

Yang Tang, Chaoqiang Zhao, Jianrui Wang et al.

Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the visual-based self-state estimation, environment perception and navigation capabilities of autonomous systems have been efficiently addressed, and many new learning-based algorithms have surfaced with respect to autonomous visual perception and navigation. In this review, we focus on the applications of learning-based monocular approaches in ego-motion perception, environment perception and navigation in autonomous systems, which is different from previous reviews that discussed traditional methods. First, we delineate the shortcomings of existing classical visual simultaneous localization and mapping (vSLAM) solutions, which demonstrate the necessity to integrate deep learning techniques. Second, we review the visual-based environmental perception and understanding methods based on deep learning, including deep learning-based monocular depth estimation, monocular ego-motion prediction, image enhancement, object detection, semantic segmentation, and their combinations with traditional vSLAM frameworks. Then, we focus on the visual navigation based on learning systems, mainly including reinforcement learning and deep reinforcement learning. Finally, we examine several challenges and promising directions discussed and concluded in related research of learning systems in the era of computer science and robotics.

QianRu Wei, DaZheng Feng, WeiXing Zheng

Most of the classical approaches to straight line detection only deal with a binary edge image and need to use 2D interpolation operation. This paper proposes a new transform method figuratively named as funnel transform which can efficiently and rapidly detect straight lines. The funnel transform consists of three 1D Fourier transforms and one nonlinear variable-metric transform (NVMT). It only needs to exploit 1D interpolation operation for achieving its NVMT, and can directly handle grayscale images by using its high-pass filter property, which significantly improves the performance of the closely-related approaches. Based on the slope-intercept line equation, the funnel transform can more uniformly turn the straight lines formed by ridge-typical and step-typical edges into the local maximum points (peaks). The parameters of each line can be uniquely extracted from its corresponding peak coordinates. Additionally, each peak can be theoretically specified by a 2D delta function, which makes the peaks and lines more easily identified and detected, respectively. Theoretical analysis and experimental results demonstrate that the funnel transform has advantages including smaller computational complexity, lower hardware cost, higher detection probability, greater location precision, better parallelization properties, stronger anti-occlusion and noise robustness.