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An Isochron-Based Solution to Pursuit–Evasion Games of Two Heterogeneous Players

IEEE Transactions on Automatic Control 2025年第5期70卷 2811-2826页

作者： Li, Shuai Wang, Chen Xie, Guangming Peking University State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Beijing100871 China Peking University National Engineering Research Center of Software Engineering Beijing100871 China Peking University Center for Multi-Agent Research Institute for Artificial Intelligence Beijing100871 China

In this article, we study a pursuit–evasion game between two players with heterogeneous kinematics, where the pursuer is with damped double-integrator dynamics and the evader is with single-integrator dynamics. The pursuer aims at capturing the evader as soon as possible, while the evader wants to avoid or delay the capture. Traditional methods to solve pursuit–evasion games rely on the Hamilton–Jacobi–Isaacs (HJI) equations and retrogressive path equations, which are very complicated and nonintuitive, thus failing to obtain a complete solution. To overcome these challenges, we develop an intuitive isochron-based method to thoroughly analyze all possible situations of the game and a concise geometric approach to calculate the optimal strategies, providing a complete solution to this game. Specifically, the isochron-based method effectively leverages three main factors: the players' motion capability, the pursuer's capture capability, and the players' states. Based on these, we analyze the players' superiority and the geometrical features of their isochrones and the intersections, thus acquiring concise conditions that determine the game's outcome. For the success-capture cases, we propose a new geometric approach to calculate the target points of the players and then obtain the closed-loop state feedback optimal pursuit and evasion strategies. We then get the corresponding value function and provide a validation using the HJI equation. For the success-evasion cases, we exploit the intersection of the players' isochrones to design some effective evasion strategies, which ensure that the evader can always avoid or delay the capture. Finally, some numerical simulations are carried out to validate the effectiveness and applicability of our results. © 1963-2012 IEEE.

关键词： State feedback

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Distributed Task Allocation With Minimum Makespan for Heterogeneous Multiplayer Pursuit–Evasion Games

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IEEE Transactions on Automatic Control 2025年第5期70卷 2827-2842页

作者： Li, Shuai Wang, Chen Sun, Jinan Zhang, Shikun Xie, Guangming Peking University State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Beijing100871 China Peking University National Engineering Research Center of Software Engineering Beijing100871 China Peking University Center for Multi-Agent Research Institute for Artificial Intelligence Beijing100871 China

In the domain of multiplayer pursuit–evasion games, it is crucial to address the practical aspects of the players' heterogeneity, the distributed control manner, and the pursuers' goal of minimum makespan. However, the three topics have received limited attention in existing literature, both separately and in combination. In this article, we address the multiplayer pursuit–evasion game integrating these key topics, where the pursuers with simple motions strive to capture as many evaders, characterized by damped double integrators, as possible, meanwhile minimizing the task makespan. To this end, we establish an overall framework and sequentially tackle four key issues, leading to an effective solution to the entire problem. We first propose a novel isochron-based method to derive the capture condition and acquire the optimal pursuit and evasion strategies. Then, we enhance the usability of the capture condition by geometrically deriving the analytical form of the pursuer's winning region with respect to a given evader. Third, leveraging the concept of winning regions, we determine the lower boundary of pursuers' sensing range, ensuring sufficient information acquisition for evader allocation while avoiding selection conflicts. Finally, we propose a fully distributed allocation algorithm for each pursuer allowing the pursuer team to converge to the optimal evader allocation. By combining these contributions, we successfully provide an effective solution to the entire problem. Various simulations are conducted to show the effectiveness of our proposed methods. © 1963-2012 IEEE.

关键词： Games Resource management Sensors Robot sensing systems Mathematical models Heuristic algorithms Decentralized control Usability Biomimetics Topology

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D-VSync: Decoupled Rendering and Displaying for Smartphone Graphics 25

D-VSync: Decoupled Rendering and Displaying for Smartphone G...

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30th ACM International Conference on Architectural Support for Programming Languages and Operating systems, ASPLOS 2025

作者： Wu, Yuanpei Du, Dong Xu, Chao Xia, Yubin Fu, Ming Zang, Binyu Chen, Haibo Ipads Shanghai Jiao Tong University Engineering Research Center for Domain-specific Operating Systems Ministry of Education Shanghai China Fields Lab Huawei Central Software Institute Shanghai China Fields Lab Huawei Central Software Institute Hangzhou China Ipads Shanghai Jiao Tong University Engineering Research Center for Domain-specific Operating Systems Ministry of Education Key Laboratory of System Software Chinese Academy of Science Shanghai China

ISBN: (纸本)9798400706981

Rendering service, which typically orchestrates screen display and UI through Vertical Synchronization (VSync), is an indispensable system service for user experiences of smartphone OSes (e.g., Android, OpenHarmony, and iOS). The recent trend of large high-frame-rate screens, stunning visual effects, and physics-based animations has placed unprecedented pressure on the VSync-based rendering architecture, leading to higher frame drops and longer rendering latency. This paper proposes Decoupled Vertical Synchronization (D-VSync), which decouples execution and displaying in the rendering service. D-VSync allows frames to be rendered a number of VSync periods before being physically displayed on the screen. The key insight behind D-VSync to resolve the limitation of VSync is that, the decoupling enables sporadic long frames to utilize the computational power saved by common short frames, therefore providing a larger time window to tolerate workload fluctuations. Evaluation results of 75 common OS use cases and apps on OpenHarmony (Mate 40 Pro, Mate 60 Pro), 25 popular apps on Android (Google Pixel 5), and simulations of 15 mobile games show that compared to VSync, D-VSync on average reduces frame drops by 72.7%, user-perceptible stutters by 72.3%, and rendering latency by 31.1%, with only 0.13%-0.37% more power consumption. D-VSync has been integrated into HarmonyOS NEXT. © 2025 ACM.

关键词： Rendering (computer graphics)

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Against Mobile Collusive Eavesdroppers: Cooperative Secure Transmission and Computation in UAV-Assisted MEC Networks

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IEEE Transactions on Mobile Computing 2025年第6期24卷 5280-5297页

作者： Zhao, Mingxiong Wang, Zirui Guo, Kun Zhang, Rongqian Quek, Tony Q. S. Ministry of Education Engineering Research Center of Integration and Application of Digital Learning Technology Beijing100039 China Ministry of Education Engineering Research Center of Cyberspace Kunming650504 China Yunnan University of Finance and Economics Yunnan Key Laboratory of Service Computing Kunming650221 China Yunnan University Yunnan Key Laboratory of Software Engineering Kunming650091 China East China Normal University Shanghai Key Laboratory of Multidimensional Information Processing School of Communications and Electronics Engineering Shanghai200241 China Yunnan University School of Information Science and Engineering Kunming650500 China Singapore University of Technology and Design Information Systems Technology and Design 487372 Singapore National Pilot School of Software Yunnan University Kunming China

In Unmanned Aerial Vehicle (UAV)-assisted Mobile Edge Computing (MEC) networks, the security of transmission faces significant challenges due to the vulnerabilities of line-of-sight links and potential eavesdropping on two-hop links. This paper addresses these challenges with an innovative Cooperative Secure Transmission and Computation strategy (CSTC), specifically engineered for time-slotted UAV-assisted MEC networks plagued by mobile collusive eavesdroppers. These eavesdroppers significantly bolster their interception capabilities through coordinated and optimized movements, escalating the security threats. To neutralize these risks, the proposed CSTC employs the UAV and remote devices as helper nodes to emit jamming signals, thereby thwarting eavesdropping activities, while simultaneously facilitating the efficient relay of users' tasks to the base station for advanced processing. The CSTC aims to maximize the sum Secrecy Transmission Rate (STR) satisfying task latency constraints. It involves a joint optimization of UAV trajectory, jamming beamformers, transmit power, and data offloading strategy to expedite task transmission. Additionally, a real-time computation scheduling approach is developed based on a newly defined metric, the Urgency Degree of Users (UDoU), to enhance task processing efficiency. Our extensive simulations validate that the CSTC not only elevates the sum STR but also consistently meets latency constraints, demonstrating its robustness against advanced mobile eavesdropping techniques. © 2002-2012 IEEE.

关键词： Jamming

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Vision DualGNN: Semantic Graph Is Not Only You Need 27th

Vision DualGNN: Semantic Graph Is Not Only You Need

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Zheng, Xiaolong Wang, Jianming Xiao, Zhitao Sun, Yukuan School of Software Tiangong University Tianjin China Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems Tiangong University Tianjin China Tianjin Key Laboratory of Optoelectronic Detection Technology and Systems Tiangong University Tianjin China Center for Engineering Intership and Training Tiangong University Tianjin China

ISBN: (纸本)9783031781063

Graph Neural Networks (GNNs) have shown great potential in visual tasks, yet they face challenges in effectively constructing and processing graphs. Vision GNN (ViG) was developed to tackle these issues by segmenting images into patches treated as nodes, with edges formed by connecting the nearest semantic neighbors. However, relying solely on semantic information for graph construction confines itself to a dispersed distribution of object neighbors, leading to inadequate graph processing. To address this issue, we propose Vision DualGNN(VDG), a novel dual graph neural network architecture that leverages both spatial and semantic information to construct and process graph representation of images. We apply a node encoder that transforms image patches into expressive node features. Additionally, we implement a dual-stream GNN that operates on both a spatial graph and a semantic graph. The spatial graph serves as a constraint for the semantic graph, enhancing the node features with spatial awareness. To verify the validity of our architecture, we have conducted our experiments on the ImageNet and CIFAR-100 datasets. And achieved state-of-the-art performance compared to other baseline models. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： dualgnn graph convolution semantic graph spatial graph

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Self-powered tactile sensor for real-time recognition of Morse code based on machine learning

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Nano Research 2025年第2期18卷 760-768页

作者： Shenxing Tan Yang Jiang Xujiang Chao Fei Liang Ripeng Li Tao Jiang Hai-Dong Yu Zhong Lin Wang Guangzhou Institute of Blue Energy Guangzhou 510555China Frontiers Science Center for Flexible Electronics Xi'an Institute of Flexible Electronics(IFE)and Xi'an Institute of Biomedical Materials&EngineeringNorthwestern Polytechnical UniversityXi'an 710072China Beijing Key Laboratory of Micro-Nano Energy and Sensor Center for High-Entropy Energy and SystemsBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijing 101400China School of Nanoscience and Engineering University of Chinese Academy of SciencesBeijing 100049China School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China School of Computer Science(National Pilot Software Engineering School) Beijing University of Posts and TelecommunicationsBeijing 100876China

Developing lightweight,green,and flexible wearable electronics with high sensitivity and multifunctional sensing capabilities is of important significance in the field of outdoor sports,such as mountaineering,animal tracking and *** work proposes a silk fibroin fibers-based triboelectric nanogenerator(SF TENG)to harvest tiny energy from human fingertip tapping and act as a self-powered tactile *** SF-TENG adopts a green,efficient,and low-cost fabrication strategy,in which a breathable and electropositive silk fibroin fiber membrane and a silver conductive layer are prepared by electrostatic spinning and magnetron sputtering,and combined with a conductive cloth and a breathable tape to form a flexible sensor that can be attached to a human *** thin and soft portable TENG device,having a thickness of only 0.3 mm and a mass of 354 mg at the dimension of 4.5 cm×4.5 cm,can generate a maximum power density of 1.0 mW·m^(–2).Furthermore,the SF-TENG has excellent sensitivity of 1.767 mV·Pa^(–1) with good cyclic *** superior sensing characteristics provide new avenues for Morse code applications toward outdoor wearable autonomous *** proposed SF-TENG offers promising solutions in multi-scenario outdoor sport,human-machine interface interaction,and security systems.

关键词： flexible electronics triboelectric nanogenerator silk fibroin Morse code translation

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Astronomical Image Processing by the Lemur software 24

Astronomical Image Processing by the Lemur Software

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6th Asia Conference on Machine Learning and Computing, ACMLC 2024

作者： Khlamov, Sergii Savanevych, Vadym Briukhovetskyi, Oleksandr Vlasenko, Vladimir Dikov, Yevhen Dmytrenko, Artem Department of Media Systems and Technologies Kharkiv National University of Radio Electronics Kharkiv Ukraine Department of systems engineering Kharkiv National University of Radio Electronics Kharkiv Ukraine Western Center of Radio Engineering Surveillance National Space Facilities Control and Test Center Kyiv Ukraine Space Research and Communication Center National Space Facilities Control and Test Center Kyiv Ukraine Department of Software Engineering GlobalLogic Incorporation Kharkiv Ukraine Institute of Astronomy V. N. Karazin Kharkiv National University Kharkiv Ukraine

ISBN: (纸本)9798400710018

The astronomical images are made by cameras with the charge-coupled device (CCD). They can be received from the different sources, like servers, clusters, predefined series, archives or "live" (online) data streams. The astronomical images processing is focused on but not limited to the following tasks: data mining, knowledge discovery, big astronomical data processing, filtering, background alignment, brightness equalization, segmentation, classification, image recognition, object's image detection, object's astrometry and photometry, moving object detection, parameters determination of the object's image and apparent motion, reference objects selection and others. The modern Lemur software of the Collection Light Technology (CoLiTec) project (https://***) was developed using the described above technologies and approaches. The Lemur software is designed to perform a sequence of the following main steps: pre-processing (astronomical information collection -> worst data rejection -> useful data extraction -> data mining -> classification -> background alignment -> brightness equalization), image processing (segmentation -> typical form analysis -> recognition patterns applying -> detection of the object's image -> astrometry -> photometry -> objects identification -> tracks detection), knowledge discovery (Solar System objects or artificial satellites to be discovered, tracks parameters for the investigation, light curves of the variable stars, scientific reports in the international formats). The paper describes the modern features for the astronomical image processing implemented in the Lemur software. It has assisted in making over 1700 discoveries of asteroids, including 5 NEOs, 21 Trojan asteroids of Jupiter, 1 Centaur. In total it has been used in about 800 000 observations, during which five comets were discovered. All such observations and discoveries have official observational circulares from the Minor Planet center (MPC) of the International Ast

关键词： Asteroids

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Adaptive Model Compression for Efficient Federated Learning in IoT systems

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IEEE Internet of Things Journal 2025年

作者： Zhu, Xi Wang, Junbo Sato, Kento Zheng, Zibin Sun Yat-Sen University School of System Science and Engineering China School of Intelligent Systems Engineering China RIKEN Center for Computational Science Japan School of Software Engineering China

Federated learning (FL), as an emerging collaborative learning paradigm, offers a promising solution to tackle learning challenges in IoT environments. However, the inherent mechanism of FL often results in significant communication overhead, which poses challenges in resource-constrained IoT systems. Moreover, most existing model compression methods struggle to balance model accuracy and compression ratio effectively with low resource consumption: excessive compression degrades accuracy, while insufficient compression incurs high communication overhead. To address this issue, we propose adaMC, an adaptive model compression algorithm for FL in IoT systems. This method integrates two types of network models: main and auxiliary networks. The auxiliary networks generate optimal sparsification strategies to guide the corresponding layers in the main network to become sparse. To ensure robust performance, we develop a bias correction method that guarantees both model accuracy and convergence, accompanied by a theoretical analysis. Experimental results on widely used deep learning models and public datasets demonstrate that our adaMC method is effective, achieving competitive performance compared to FL without compression. © 2014 IEEE.

关键词： Federated learning

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Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

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Journal of Shanghai Jiaotong University (Science) 2025年 1-9页

作者： Li, Mingwang Li, Xinde Zhang, Zhentong Zhang, Zeyu Zhao, Haoming School of Software Southeast University Suzhou Jiangsu215000 China School of Automation Southeast University Nanjing210018 China School of Cyber Science and Engineering Southeast University Nanjing211102 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Nanjing214135 China Nanjing Center for Applied Mathematics Nanjing211135 China Southeast University Shenzhen Research Institute Shenzhen Guangdong518063 China

As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： Mobile robots

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Segmentation Techniques Applied to CNNs for Cervical Cancer Classification

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IEEE Access 2025年 13卷 74678-74688页

作者： Ortiz-Gonzalez, Ana Martinez-Espana, Raquel Morales-Garcia, Juan Imbernon, Baldomero Martinez-Mas, Jose Alvarez, Mauricio A. Romero, Oscar D. Martinez-Cendan, Juan Pedro Bueno-Crespo, Andres University Hospital Complex of Cartagena Pathology Department Spain University of Murcia Information and Communications Engineering Department Spain University of Alicante Department of Software and Computing Systems Spain Spain Catholic University of Murcia Faculty of Medicine Spain CIAGO Gynecological Center Obstetrics and Gynecology Department Spain University of Manchester Computer Science Department United Kingdom University General Hospital Santa Lucía Obstetrics and Gynecology Department Spain

Cervical cancer continues to be a significant global health issue, ranking as the fourth most prevalent cancer affecting women. Enhancing population screening programs by refining the examination of cervical samples conducted by skilled pathologists offers a compelling alternative for early detection of this disease. Deep Learning facilitates the development of automatic classification models to aid experts in this task. However, it is increasingly important to bring explainability to the model both to understand how the network learns to identify pathology and to bring confidence to the diagnosis. In this paper, we design an automatic segmentation masks for the classification of cervicovaginal cell images. This automatic segmentation is combined in a classification model that allows the models to improve their performance thanks to the morphological information provided by the combined segmentation in a Global Average Pooling layer with the convolutional network analysis of the original image. The models will be trained with real data so that learning can recognize the diversity of colors, shapes and sizes of human cell nuclei. The results show a robust and explainable model with satisfactory results, obtaining an F1 Score value of 0.935 in binary classification of revisable and non-revisable cell. © 2013 IEEE.

关键词： Convolutional neural networks

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