This paper is concerned with finite-time H_(∞) filtering for Markov jump systems with uniform quantization. The objective is to design quantized mode-dependent filters to ensure that the filtering error system is not...This paper is concerned with finite-time H_(∞) filtering for Markov jump systems with uniform quantization. The objective is to design quantized mode-dependent filters to ensure that the filtering error system is not only mean-square finite-time bounded but also has a prescribed finite-time H_(∞) performance. First, the case where the switching modes of the filter align with those of the MJS is considered. A numerically tractable filter design approach is proposed utilizing a mode-dependent Lyapunov function, Schur’s complement, and Dynkin’s formula. Then, the study is extended to a scenario where the switching modes of the filter can differ from those of the MJS. To address this situation, a mode-mismatched filter design approach is developed by leveraging a hidden Markov model to describe the asynchronous mode switching and the double expectation formula. Finally, a spring system model subject to a Markov chain is employed to validate the effectiveness of the quantized filter design approaches.展开更多
In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of un...In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.展开更多
A new Modified Discrete Wavelets Packets Transform (MDWPT) based method for the compression of Surface EMG signal (s-EMG) data is presented. A Modified Discrete Wavelets Packets Transform (MDWPT) is applied to the <...A new Modified Discrete Wavelets Packets Transform (MDWPT) based method for the compression of Surface EMG signal (s-EMG) data is presented. A Modified Discrete Wavelets Packets Transform (MDWPT) is applied to the <span style="font-family:Verdana;">digitized s-EMG signal. A Discrete Cosine Transforms (DCT) is applied to the MDWPT coefficients (only on detail coefficients). The MDWPT+ DCT coeffici</span><span style="font-family:Verdana;">ents are quantized with a Uniform Scalar Dead-Zone Quantizer (USD</span><span style="font-family:Verdana;">ZQ)</span><span style="font-family:Verdana;">. An arithmetic coder is employed for the entropy coding of symbol streams. The</span><span style="font-family:Verdana;"> proposed approach was tested on more than 35 act</span><span style="font-family:Verdana;">uals S-EMG signals divided into three categories. The proposed approach was evaluated by the foll</span><span style="font-family:Verdana;">owing parameters: Compression Factor (CF), Signal to Noise Ratio (SN</span><span style="font-family:Verdana;">R), </span><span style="font-family:Verdana;">Percent Root mean square Difference (PRD), Mean Frequency Distortion (MFD) </span><span style="font-family:Verdana;">and the Mean Square Error (MSE). Simulation results show that the proposed coding algorithm outperforms some recently developed s-EMG compression algorithms.</span>展开更多
Quantized neural networks (QNNs), which use low bitwidth numbers for representing parameters and performing computations, have been proposed to reduce the computation complexity, storage size and memory usage. In QNNs...Quantized neural networks (QNNs), which use low bitwidth numbers for representing parameters and performing computations, have been proposed to reduce the computation complexity, storage size and memory usage. In QNNs, parameters and activations are uniformly quantized, such that the multiplications and additions can be accelerated by bitwise operations. However, distributions of parameters in neural networks are often imbalanced, such that the uniform quantization determined from extremal values may underutilize available bitwidth. In this paper, we propose a novel quantization method that can ensure the balance of distributions of quantized values. Our method first recursively partitions the parameters by percentiles into balanced bins, and then applies uniform quantization. We also introduce computationally cheaper approximations of percentiles to reduce the computation overhead introduced. Overall, our method improves the prediction accuracies of QNNs without introducing extra computation during inference, has negligible impact on training speed, and is applicable to both convolutional neural networks and recurrent neural networks. Experiments on standard datasets including ImageNet and Penn Treebank confirm the effectiveness of our method. On ImageNet, the top-5 error rate of our 4-bit quantized GoogLeNet model is 12.7%, which is superior to the state-of-the-arts of QNNs.展开更多
基金Project supported by the Natural Science Foundation of the Anhui Higher Education Institutions (Grant Nos. KJ2020A0248 and 2022AH050310)。
文摘This paper is concerned with finite-time H_(∞) filtering for Markov jump systems with uniform quantization. The objective is to design quantized mode-dependent filters to ensure that the filtering error system is not only mean-square finite-time bounded but also has a prescribed finite-time H_(∞) performance. First, the case where the switching modes of the filter align with those of the MJS is considered. A numerically tractable filter design approach is proposed utilizing a mode-dependent Lyapunov function, Schur’s complement, and Dynkin’s formula. Then, the study is extended to a scenario where the switching modes of the filter can differ from those of the MJS. To address this situation, a mode-mismatched filter design approach is developed by leveraging a hidden Markov model to describe the asynchronous mode switching and the double expectation formula. Finally, a spring system model subject to a Markov chain is employed to validate the effectiveness of the quantized filter design approaches.
基金supported in part by the National Key R&D Program of China(No.2023YFB4704400)in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper,a distributed Event-Triggered(ET)collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles(QUAVs)is proposed based on Virtual Tubes(VTs)with flexible boundaries in the presence of unknown external disturbances.Firstly,VTs are constructed for each QUAV,and the QUAV is restricted into the corresponding VT by the artificial potential field,which is distributed around the boundary of the VT.Thus,the collisions between QUAVs are avoided.Besides,the boundaries of the VTs are flexible by the modification signals,which are generated by the self-regulating auxiliary systems,to make the repulsive force smaller and give more buffer space for QUAVs without collision.Then,a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism.Furthermore,a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance.On this basis,a distributed ET collision avoidance coordinated controller is proposed.Then,the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants.The boundedness of the closed-loop signals is verified by the Lyapunov method.Finally,simulation and experimental results are performed to demonstrate the superiority of the proposed control method.
文摘A new Modified Discrete Wavelets Packets Transform (MDWPT) based method for the compression of Surface EMG signal (s-EMG) data is presented. A Modified Discrete Wavelets Packets Transform (MDWPT) is applied to the <span style="font-family:Verdana;">digitized s-EMG signal. A Discrete Cosine Transforms (DCT) is applied to the MDWPT coefficients (only on detail coefficients). The MDWPT+ DCT coeffici</span><span style="font-family:Verdana;">ents are quantized with a Uniform Scalar Dead-Zone Quantizer (USD</span><span style="font-family:Verdana;">ZQ)</span><span style="font-family:Verdana;">. An arithmetic coder is employed for the entropy coding of symbol streams. The</span><span style="font-family:Verdana;"> proposed approach was tested on more than 35 act</span><span style="font-family:Verdana;">uals S-EMG signals divided into three categories. The proposed approach was evaluated by the foll</span><span style="font-family:Verdana;">owing parameters: Compression Factor (CF), Signal to Noise Ratio (SN</span><span style="font-family:Verdana;">R), </span><span style="font-family:Verdana;">Percent Root mean square Difference (PRD), Mean Frequency Distortion (MFD) </span><span style="font-family:Verdana;">and the Mean Square Error (MSE). Simulation results show that the proposed coding algorithm outperforms some recently developed s-EMG compression algorithms.</span>
文摘Quantized neural networks (QNNs), which use low bitwidth numbers for representing parameters and performing computations, have been proposed to reduce the computation complexity, storage size and memory usage. In QNNs, parameters and activations are uniformly quantized, such that the multiplications and additions can be accelerated by bitwise operations. However, distributions of parameters in neural networks are often imbalanced, such that the uniform quantization determined from extremal values may underutilize available bitwidth. In this paper, we propose a novel quantization method that can ensure the balance of distributions of quantized values. Our method first recursively partitions the parameters by percentiles into balanced bins, and then applies uniform quantization. We also introduce computationally cheaper approximations of percentiles to reduce the computation overhead introduced. Overall, our method improves the prediction accuracies of QNNs without introducing extra computation during inference, has negligible impact on training speed, and is applicable to both convolutional neural networks and recurrent neural networks. Experiments on standard datasets including ImageNet and Penn Treebank confirm the effectiveness of our method. On ImageNet, the top-5 error rate of our 4-bit quantized GoogLeNet model is 12.7%, which is superior to the state-of-the-arts of QNNs.
