Learning-Based Genetic Algorithm to Schedule an Extended Flexible Job Shop.

This work considers an extended flexible job-shop scheduling problem from a semiconductor manufacturing environment. To find its high-quality solution in a reasonable time, a learning-based genetic algorithm (LGA) that incorporates a parallel long short-term memory network-embedded autoencoder model is proposed. In it, genetic algorithm is selected as a main optimizer. A novel autoencoder model is trained offline via end-to-end unsupervised learning without relying on labeled data. This model captures the major linkages among decision variables and generates promising solutions in an informative low-dimensional space, striking a balance between computational efficiency and solution quality. To further improve its search ability, a co-evolving framework is designed, which includes both a network-embedded subpopulation and a regular one. The former focuses on its global search while the latter ensures LGA's convergence. An information exchange method between the two subpopulations balances global and local search, improving its overall optimization ability. This work conducts various numerical experiments to compare LGA with the CPLEX optimizer, several classical heuristics, and some popular methods. Results show that LGA outperforms its peers in finding high-quality solutions in a reasonable time.

Whole Body Control of Mobile Manipulators With Series Elastic Actuators for Cart Pushing Tasks.

Human-centered environments provide affordance for the use of two-handed mobile manipulators. Yet robots designed to function in and physically interact with such environments are not yet capable of meeting human users' requirements. This work proposes a whole body control framework of a two-handed mobile manipulator driven by series elastic actuators (SEAs) for cart pushing tasks. A whole body dynamic model for an integrated mobile platform and on-board arms is revealed, which takes into account the interaction forces with the cart. Then, the explicit force/position control of the mobile manipulator is performed. It enables the robot to interact dynamically with the environment while providing motion, i.e., the manipulators provide both output force control and motion control for pushing a cart. To cope with the highly nonlinear system dynamics and parameter variation of a SEA-driven mobile manipulator, this work proposes an adaptive robust controller based on a novel integral barrier Lyapunov function for cart pushing tasks by considering model uncertainty. The proposed controller enables the mobile manipulator to complete cart pushing tasks by regulating the position and output force of the mobile base and arms. The experimental results show the effectiveness of this approach in cart pushing tasks.

Complex-Valued Convolutional Gated Recurrent Neural Network for Ultrasound Beamforming.

Ultrasound detection is a potent tool for the clinical diagnosis of various diseases due to its real-time, convenient, and noninvasive qualities. Yet, existing ultrasound beamforming and related methods face a big challenge to improve both the quality and speed of imaging for the required clinical applications. The most notable characteristic of ultrasound signal data is its spatial and temporal features. Because most signals are complex-valued, directly processing them by using real-valued networks leads to phase distortion and inaccurate output. In this study, for the first time, we propose a complex-valued convolutional gated recurrent (CCGR) neural network to handle ultrasound analytic signals with the aforementioned properties. The complex-valued network operations proposed in this study improve the beamforming accuracy of complex-valued ultrasound signals over traditional real-valued methods. Further, the proposed deep integration of convolution and recurrent neural networks makes a great contribution to extracting rich and informative ultrasound signal features. Our experimental results reveal its outstanding imaging quality over existing state-of-the-art methods. More significantly, its ultrafast processing speed of only 0.07 s per image promises considerable clinical application potential. The code is available at https://github.com/zhangzm0128/CCGR.

Improving Classification Performance in Dendritic Neuron Models through Practical Initialization Strategies.

A dendritic neuron model (DNM) is a deep neural network model with a unique dendritic tree structure and activation function. Effective initialization of its model parameters is crucial for its learning performance. This work proposes a novel initialization method specifically designed to improve the performance of DNM in classifying high-dimensional data, notable for its simplicity, speed, and straightforward implementation. Extensive experiments on benchmark datasets show that the proposed method outperforms traditional and recent initialization methods, particularly in datasets consisting of high-dimensional data. In addition, valuable insights into the behavior of DNM during training and the impact of initialization on its learning performance are provided. This research contributes to the understanding of the initialization problem in deep learning and provides insights into the development of more effective initialization methods for other types of neural network models. The proposed initialization method can serve as a reference for future research on initialization techniques in deep learning.

MemeNet: Toward a Reliable Local Projection for Image Recognition via Semantic Featurization.

When we recognize images with the help of Artificial Neural Networks (ANNs), we often wonder how they make decisions. A widely accepted solution is to point out local features as decisive evidence. A question then arises: Can local features in the latent space of an ANN explain the model output to some extent? In this work, we propose a modularized framework named MemeNet that can construct a reliable surrogate from a Convolutional Neural Network (CNN) without changing its perception. Inspired by the idea of time series classification, this framework recognizes images in two steps. First, local representations named memes are extracted from the activation map of a CNN model. Then an image is transformed into a series of understandable features. Experimental results show that MemeNet can achieve accuracy comparable to most models' through a set of reliable features and a simple classifier. Thus, it is a promising interface to use the internal dynamics of CNN, which represents a novel approach to constructing reliable models.

Learning From Human Educational Wisdom: A Student-Centered Knowledge Distillation Method.

Existing studies on knowledge distillation typically focus on teacher-centered methods, in which the teacher network is trained according to its own standards before transferring the learned knowledge to a student one. However, due to differences in network structure between the teacher and the student, the knowledge learned by the former may not be desired by the latter. Inspired by human educational wisdom, this paper proposes a Student-Centered Distillation (SCD) method that enables the teacher network to adjust its knowledge transfer according to the student network's needs. We implemented SCD based on various human educational wisdom, e.g., the teacher network identified and learned the knowledge desired by the student network on the validation set, and then transferred it to the latter through the training set. To address the problems of current deficiency knowledge, hard sample learning and knowledge forgetting faced by a student network in the learning process, we introduce and improve Proportional-Integral-Derivative (PID) algorithms from automation fields to make them effective in identifying the current knowledge required by the student network. Furthermore, we propose a curriculum learning-based fuzzy strategy and apply it to the proposed PID control algorithm, such that the student network in SCD can actively pay attention to the learning of challenging samples after with certain knowledge. The overall performance of SCD is verified in multiple tasks by comparing it with state-of-the-art ones. Experimental results show that our student-centered distillation method outperforms existing teacher-centered ones.

A Herd-Foraging-Based Approach to Adaptive Coverage Path Planning in Dual Environments.

Coverage path planning (CPP) is essential for robotic tasks, such as environmental monitoring and terrain surveying, which require covering all surface areas of interest. As the pioneering approach to CPP, inspired by the concept of predation risk in predator-prey relations, the predator-prey CPP (PPCPP) has the benefit of adaptively covering arbitrary bent 2-D manifolds and can handle unexpected changes in an environment, such as the sudden introduction of dynamic obstacles. However, it can only work in bounded environment and cannot handle tasks in unbounded one, e.g., search and rescue tasks where the search boundary is unknown. Sometimes, robots are required to handle both bounded and unbounded environments, i.e., dual environments, such as capturing criminals in a city. Once encountering a building, the robot enters it to cover the bounded environment, then continues to cover the unbounded one when leaving the building. Therefore, the capability of swarm robots for the coverage tasks both in bounded and unbounded environments is important. In nature, herbivores live in groups to find more food and reduce the risk of predation. Especially the juvenile ones prefer to forage near the herd to protect themselves. Inspired by the foraging behavior of animals in a herd, this article proposes an online adaptive CPP approach that enables swarm robots to handle both bounded and unbounded environments without knowing the environmental information in advance, called dual-environmental herd-foraging-based CPP (DH-CPP). It's performance is evaluated in dual environments with stationary and dynamic obstacles of different shapes and quantity, and compared with three state-of-the-art approaches. Simulation results demonstrate that it is highly effective to handle dual environments.

Interpretability Diversity for Decision-Tree-Initialized Dendritic Neuron Model Ensemble.

To construct a strong classifier ensemble, base classifiers should be accurate and diverse. However, there is no uniform standard for the definition and measurement of diversity. This work proposes a learners' interpretability diversity (LID) to measure the diversity of interpretable machine learners. It then proposes a LID-based classifier ensemble. Such an ensemble concept is novel because: 1) interpretability is used as an important basis for diversity measurement and 2) before its training, the difference between two interpretable base learners can be measured. To verify the proposed method's effectiveness, we choose a decision-tree-initialized dendritic neuron model (DDNM) as a base learner for ensemble design. We apply it to seven benchmark datasets. The results show that the DDNM ensemble combined with LID obtains superior performance in terms of accuracy and computational efficiency compared to some popular classifier ensembles. A random-forest-initialized dendritic neuron model (RDNM) combined with LID is an outstanding representative of the DDNM ensemble.

Fully Complex-Valued Gated Recurrent Neural Network for Ultrasound Imaging.

Ultrasound imaging is widely used in medical diagnosis. It has the advantages of being performed in real time, cost-efficient, noninvasive, and nonionizing. The traditional delay-and-sum (DAS) beamformer has low resolution and contrast. Several adaptive beamformers (ABFs) have been proposed to improve them. Although they improve image quality, they incur high computation cost because of the dependence on data at the expense of real-time performance. Deep-learning methods have been successful in many areas. They train an ultrasound imaging model that can be used to quickly handle ultrasound signals and construct images. Real-valued radio-frequency signals are typically used to train a model, whereas complex-valued ultrasound signals with complex weights enable the fine-tuning of time delay for enhancing image quality. This work, for the first time, proposes a fully complex-valued gated recurrent neural network to train an ultrasound imaging model for improving ultrasound image quality. The model considers the time attributes of ultrasound signals and uses complete complex-number calculation. The model parameter and architecture are analyzed to select the best setup. The effectiveness of complex batch normalization is evaluated in training the model. The effect of analytic signals and complex weights is analyzed, and the results verify that analytic signals with complex weights enhance the model performance to reconstruct high-quality ultrasound images. The proposed model is finally compared with seven state-of-the-art methods. Experimental results reveal its great performance.

A Robust Mean-Field Actor-Critic Reinforcement Learning Against Adversarial Perturbations on Agent States.

Multiagent deep reinforcement learning (DRL) makes optimal decisions dependent on system states observed by agents, but any uncertainty on the observations may mislead agents to take wrong actions. The mean-field actor-critic (MFAC) reinforcement learning is well-known in the multiagent field since it can effectively handle a scalability problem. However, it is sensitive to state perturbations that can significantly degrade the team rewards. This work proposes a Robust MFAC (RoMFAC) reinforcement learning that has two innovations: 1) a new objective function of training actors, composed of a policy gradient function that is related to the expected cumulative discount reward on sampled clean states and an action loss function that represents the difference between actions taken on clean and adversarial states and 2) a repetitive regularization of the action loss, ensuring the trained actors to obtain excellent performance. Furthermore, this work proposes a game model named a state-adversarial stochastic game (SASG). Despite the Nash equilibrium of SASG may not exist, adversarial perturbations to states in the RoMFAC are proven to be defensible based on SASG. Experimental results show that RoMFAC is robust against adversarial perturbations while maintaining its competitive performance in environments without perturbations.