![[PukiWiki]](image/pukiwiki.png "[PukiWiki]")
For social robots to effectively engage in human-robot interaction (HRI), they need to be able to interpret human affective cues and to respond appropriately via display of their own emotional behavior. In this article, we present a novel multimodal emotional HRI architecture to promote natural and engaging bidirectional emotional communications between a social robot and a human user. User affect is detected using a unique combination of body language and vocal intonation, and multimodal classification is performed using a Bayesian Network. The Emotionally Expressive Robot utilizes the user's affect to determine its own emotional behavior via an innovative two-layer emotional model consisting of deliberative (hidden Markov model) and reactive (rule-based) layers. The proposed architecture has been implemented via a small humanoid robot to perform diet and fitness counseling during HRI. In order to evaluate the Emotionally Expressive Robot's effectiveness, a Neutral Robot that can detect user affects but lacks an emotional display, was also developed. A between-subjects HRI experiment was conducted with both types of robots. Extensive results have shown thsdgfdsfatat both robots can effectively detect user affect during the real-time HRI. However, the Emotionally Expressive Robot can appropriately determine its own emotional response based on the situation at hand and, therefore, induce more user positive valence and less negative arousal than the Neutral Robot.This article deals with the exponential synchronization problem for complex dynamical networks (CDNs) with coupling delay by means of the event-triggered delayed impulsive control (ETDIC) strategy. This novel ETDIC strategy combining delayed impulsive control with the event-triggering mechanism is formulated based on the quadratic Lyapunov function. Among them, the event-triggering instants are generated whenever the ETDIC strategy is violated and delayed impulsive control is implemented only at event-triggering instants, which allows the existence of some network problems, such as packet loss, misordering, and retransmission. By employing the Lyapunov-Razumikhin (L-R) technique and impulsive control theory, some sufficient conditions with less conservatism are proposed in terms of linear matrix inequalities (LMIs), which indicates that the ETDIC strategy can guarantee the achievement of the exponential synchronization and eliminate the Zeno phenomenon. Finally, a numerical example and its simulations are presented to verify the effectiveness of the proposed ETDIC strategy.Domain adaptation is suitable for transferring knowledge learned from one domain to a different but related domain. Considering the substantially large domain discrepancies, learning a more generalized feature representation is crucial for domain adaptation. On account of this, we propose an adaptive component embedding (ACE) method, for domain adaptation. Specifically, ACE learns adaptive components across domains to embed data into a shared domain-invariant subspace, in which the first-order statistics is aligned and the geometric properties are preserved simultaneously. Furthermore, the second-order statistics of domain distributions is also aligned to further mitigate domain shifts. Then, the aligned feature representation is classified by optimizing the structural risk functional in the reproducing kernel Hilbert space (RKHS). Extensive experiments show that our method can work well on six domain adaptation benchmarks, which verifies the effectiveness of ACE.A multifactorial evolutionary algorithm (MFEA) is a recently proposed algorithm for evolutionary multitasking, which optimizes multiple optimization tasks simultaneously. With the design of knowledge transfer among different tasks, MFEA has demonstrated the capability to outperform its single-task counterpart in terms of both convergence speed and solution quality. In MFEA, the knowledge transfer across tasks is realized via the crossover between solutions that possess different skill factors. This crossover is thus essential to the performance of MFEA. However, we note that the present MFEA and most of its existing variants only employ a single crossover for knowledge transfer, and fix it throughout the evolutionary search process. As different crossover operators have a unique bias in generating offspring, the appropriate configuration of crossover for knowledge transfer in MFEA is necessary toward robust search performance, for solving different problems. Nevertheless, to the best of our knowledge, there i which thus leads to superior or competitive performances when compared to the MFEAs with fixed knowledge transfer crossover operators.Constrained autonomous vehicle overtaking trajectories are usually difficult to generate due to certain practical requirements and complex environmental limitations. This problem becomes more challenging when multiple contradicting objectives are required to be optimized and the on-road objects to be overtaken are irregularly placed. In this article, a novel swarm intelligence-based algorithm is proposed for producing the multiobjective optimal overtaking trajectory of autonomous ground vehicles. The proposed method solves a multiobjective optimal control model in order to optimize the maneuver time duration, the trajectory smoothness, and the vehicle visibility, while taking into account different types of mission-dependent constraints. However, one problem that could have an impact on the optimization process is the selection of algorithm control parameters. To desensitize the negative influence, a novel fuzzy adaptive strategy is proposed and embedded in the algorithm framework. This allows the optimization process to dynamically balance the local exploitation and global exploration, thereby exploring the tradeoff between objectives more effectively. The performance of using the designed fuzzy adaptive multiobjective method is analyzed and validated by executing a number of simulation studies. The results confirm the effectiveness of applying the proposed algorithm to produce multiobjective optimal overtaking trajectories for autonomous ground vehicles. Moreover, the comparison to other state-of-the-art multiobjective optimization schemes shows that the designed strategy tends to be more capable in terms of producing a set of widespread and high-quality Pareto-optimal solutions.This article investigates the targeted bipartite consensus problem of opinion dynamics in cooperative-antagonistic networks. Each agent in the network is assigned with a convergence set to represent a credibility interval, in which its opinion is trustworthy. The network topology is characterized by a signed switching digraph. The objective is to achieve the bipartite consensus targeted within these credibility intervals. A gradient term is introduced in the opinion dynamics besides the consensus term. Under the assumption that the underlying graph is uniformly jointly strongly connected and structurally balanced, it is first shown that the considered opinion dynamics reaches the targeted bipartite consensus within the intersections of the convergence sets associated with two antagonistic groups. Next, by relaxing the connectivity condition to uniform joint quasistrong connectivity, the targeted bipartite consensus result is also proven with an additional convergence set assumption. Numerical examples are provided to validate the proposed theoretical results.Data representation learning is one of the most important problems in machine learning. Unsupervised representation learning becomes meritorious as it has no necessity of label information with observed data. Due to the highly time-consuming learning of deep-learning models, there are many machine-learning models directly adapting well-trained deep models that are obtained in a supervised and end-to-end manner as feature abstractors to distinct problems. However, it is obvious that different machine-learning tasks require disparate representation of original input data. https://www.selleckchem.com/products/Imatinib-Mesylate.html Taking human action recognition as an example, it is well known that human actions in a video sequence are 3-D signals containing both visual appearance and motion dynamics of humans and objects. Therefore, the data representation approaches with the capabilities to capture both spatial and temporal correlations in videos are meaningful. Most of the existing human motion recognition models build classifiers based on deep-learning structures sural networks (CNNs), that attains comparable results.This article investigates the problem of distributed online optimization for a group of units communicating on time-varying unbalanced directed networks. The main target of the set of units is to cooperatively minimize the sum of all locally known convex cost functions (global cost function) while pursuing the privacy of their local cost functions being well masked. To address such optimization problems in a collaborative and distributed fashion, a differentially private-distributed stochastic subgradient-push algorithm, called DP-DSSP, is proposed, which ensures that units interact with in-neighbors and collectively optimize the global cost function. Unlike most of the existing distributed algorithms which do not consider privacy issues, DP-DSSP via differential privacy strategy successfully masks the privacy of participating units, which is more practical in applications involving sensitive messages, such as military affairs or medical treatment. An important feature of DP-DSSP is tackling distributed online optimization problems under the circumstance of time-varying unbalanced directed networks. Theoretical analysis indicates that DP-DSSP can effectively mask differential privacy as well as can achieve sublinear regrets. A compromise between the privacy levels and the accuracy of DP-DSSP is also revealed. Furthermore, DP-DSSP is capable of handling arbitrarily large but uniformly bounded delays in the communication links. Finally, simulation experiments confirm the practicability of DP-DSSP and the findings in this article.Face photo-sketch synthesis aims at generating a facial sketch/photo conditioned on a given photo/sketch. It covers wide applications including digital entertainment and law enforcement. Precisely depicting face photos/sketches remains challenging due to the restrictions on structural realism and textural consistency. While existing methods achieve compelling results, they mostly yield blurred effects and great deformation over various facial components, leading to the unrealistic feeling of synthesized images. To tackle this challenge, in this article, we propose using facial composition information to help the synthesis of face sketch/photo. Especially, we propose a novel composition-aided generative adversarial network (CA-GAN) for face photo-sketch synthesis. In CA-GAN, we utilize paired inputs, including a face photo/sketch and the corresponding pixelwise face labels for generating a sketch/photo. Next, to focus training on hard-generated components and delicate facial structures, we propose a compositional reconstruction loss. In addition, we employ a perceptual loss function to encourage the synthesized image and real image to be perceptually similar. Finally, we use stacked CA-GANs (SCA-GANs) to further rectify defects and add compelling details. The experimental results show that our method is capable of generating both visually comfortable and identity-preserving face sketches/photos over a wide range of challenging data. In addition, our method significantly decreases the best previous Fréchet inception distance (FID) from 36.2 to 26.2 for sketch synthesis, and from 60.9 to 30.5 for photo synthesis. Besides, we demonstrate that the proposed method is of considerable generalization ability.
