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Abstract: Active queue management has been proved to be an effective mechanism at the intermediate nodes to alleviate network congestion. A novel robust active queue management scheme based on H-infinity feedback control theory is proposed in this paper. A TCP model with link capacity disturbances, modeling uncertainties and time-varying delay is investigated, and the objective is to design a feedback controller which guarantee the queue length stability and robustness against the external disturbances and model perturbations. Meanwhile a simple on-line estimation of TCP window size is adopted instead of state observer which reduces computation burden significantly. The controller parameters are obtained through the standard linear matrix inequality techniques. Finally NS-2 simulation results demonstrate effectiveness of the proposed method. [Copyright &y& Elsevier]

In order to solve the walking stability problem of quadruped robot under lateral disturbance, a robust stabilization reactive control strategy based on capture point stability theory is proposed. This novel control strategy consists of an active adaptive stepping control strategy at the upper planning layer and a joint disturbance rejection controller based on virtual model control at the bottom layer. The adaptive stepping control strategy is based on the capture point stability theory, which determines the stable stepping point of the robot under the action of external disturbance according to the speed and attitude of the body, and the joint disturbance rejection controller at bottom layer realizes the stable torque control of the robot and adjusts the attitude of the body through the virtual model controller. Finally, the effectiveness of the designed composite control strategy is verified by co-simulation of Simulink and ADAMS. Simulation results show that the robot with the proposed composite reactive control strategy is able to cope with large external disturbance and recover to be stable from external force disturbance. [ABSTRACT FROM AUTHOR]

Semi-supervised cross-modal retrieval is an eclectic paradigm which learns common representations via exploiting underlying semantic information from both labeled and unlabeled data. Most existing methods ignore the rich semantic information of text data and are unable to fully utilize the text data in common representation learning. Moreover, they only considered the correlation of the data with the same semantic label, but ignored the correlation between the data with different semantic label. In this paper, we propose a novel semi-supervised cross-modal retrieval method, called Graph-based Semantic Alignment Network (GSAN), which learns common representation by aligning the features of different modalities with semantic embeddings of text data. Firstly, we design a Deep Supervised Semantic Encoding (DSSE) module to train the semantic projector and label predictor which can exploit the semantic embeddings and the predicted labels from unlabeled data of text modality. Then, GAN-based Bidirectional Fusion (GBF) module is designed to learn the mapping networks of two modalities (image and text). In order to make the mapping networks generate semantically discriminative and modality-invariant representations, we utilize the underlying semantic information exploited by DSSE to construct Graph-based Triplet Constraint (GTC) which can enforce feature embeddings from the semantically-matched (image and text) pairs to be more similar and push those mismatched ones away. By the benefit of fully using of semantic information, our approach can only use fewer label data and achieves the performance of state-of-the-art methods. In addition, since we only utilize the mapping networks trained in GBF module to generate common representations in referring stage, our approach is efficient and time saving in real world application. Extensive experiments on four widely-used datasets show the effectiveness of GSAN. • We specialize in exploring semantic information covered by corresponding text data. • The semantics of text data plays supervision signal in unsupervised learning. • The graph-based triplet constraint enforces the common representations well cluster. • The triplet loss is utilized to constrain the adversarial learning. • Experiments in both supervised and semi-supervised setting show the effectiveness. [ABSTRACT FROM AUTHOR]

Exploiting relationship among samples in cross-modal data plays a key role in the task of cross-modal retrieval, but most of existing methods only extract the correlation from pairwise samples and ignore the relations of unpaired samples. Some graph regularization methods proposed a reasonable paradigm to exploit the correlation from multiple samples. However, limited by the traditional framework, the performance has much room to improve. Moreover, although some existing DNN-based methods achieve excellent performance, the requirement of massive labeled data is also a shortcoming. In this paper, we propose a novel semi-supervised method, named Semi-supervised Constrained Graph Convolutional Network (SCGCN), which adopts graph convolutional network to exploit correlation from batch samples of data with different modalities. For reducing the requirement of labeled data, we design a two stage training procedure: deep supervised learning stage and unsupervised learning stage. In deep supervised learning stage, we integrate two DNN-based semantic encoding networks and a shared classifier into Deep Cross-modal Semantic Encoding (DCSE) module which is trained by supervised learning with labeled data. From DCSE module, we learn a temporary modality-invariant space where the semantic embeddings of samples with different modalities are modality-invariant, and we also learn a classifier which can generate predicted label from the unlabeled data. In unsupervised learning stage, for fully exploiting the correlation from cross-modal data, we design a Constrained Graph Convolutional Network (CGCN) module which utilizes GCN to exploit the correlation and adopts both intra-modal discriminative loss and inter-modal pairwise similar loss to ensure the generated common representation modality-invariant and semantical discriminative. We perform extensive experiments on four conventional datasets and a large scale dataset to demonstrate the effectiveness of proposed approach. [Display omitted] • We first transform all the samples to semantic embeddings and predicted label, and then we utilize them to construct graph dynamically. • A two-stage training procedure is designed to learn the common representation by utilizing semi-supervised learning. • A selective label propagation algorithm is proposed to improve the accuracy of predicted labels by selecting the one with max probability. • Performing graph learning on all the cross-modal data can fully exploit the relationship among multiple samples. • Label propagation and graph convolution can fully utilize semantic information of both labeled and unlabeled data. [ABSTRACT FROM AUTHOR]