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Path Planning for Intelligent Robots Based on Deep Q-learning With Experience Replay and Heuristic Knowledge

IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1179-1189页

作者： Lan Jiang Hongyun Huang Zuohua Ding the Laboratory of Intelligent Computing and Software Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China the Center of Multi-Media Big Data of Library Zhejiang Sci-Tech UniversityHangzhou 310018China

Path planning and obstacle avoidance are two challenging problems in the study of intelligent robots. In this paper, we develop a new method to alleviate these problems based on deep Q-learning with experience replay and heuristic knowledge. In this method, a neural network has been used to resolve the "curse of dimensionality" issue of the Q-table in reinforcement learning. When a robot is walking in an unknown environment, it collects experience data which is used for training a neural network;such a process is called experience *** knowledge helps the robot avoid blind exploration and provides more effective data for training the neural network. The simulation results show that in comparison with the existing methods, our method can converge to an optimal action strategy with less time and can explore a path in an unknown environment with fewer steps and larger average reward.

关键词： Deep Q-learning(DQL) experience replay(ER) heuristic knowledge(HK) path planning

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Efficient Batch Verification and Privacy-Preserving Data Aggregation Scheme in V2G Networks

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IEEE Transactions on Vehicular technology 2025年

作者： Wang, Congcong Wang, Chen Shen, Jian Vasilakos, Athanasios V. Wang, Bin Wang, Weizheng Department of Software Engineering Nanjing University of Information Science and Technology Nanjing210044 China the Zhejiang Key Laboratory of Digital Fashion and Data Governance the Zhejiang Provincial International Cooperation Base for Science and Technology on Cloud Computing Security and Data Aggregation Zhejiang Sci-Tech University Hangzhou310018 China Zhejiang Provincial Innovation Center of Advanced Textile Technology Shaoxing312000 China College of Computer Science and Information Technology IAU Saudi Arabia Grimstad4879 Norway Network and Data Security Hangzhou310053 China Computer Science Department City University of Hong Kong Hong Kong the Division of Computer Science University of Aizu Fukushima965–8580 Japan

In recent years, against the backdrop of smart grids, vehicle-to-grid (V2G) interaction has become a hot topic. With the increasing number of new energy vehicles, handling massive amounts of electricity transaction data has become an urgent problem in need of resolution. Ensuring the security of the vast quantities of electricity transaction data has emerged as a significant challenge. Therefore, two data aggregation schemes are proposed in this paper, both supporting batch verification and privacy protection in centralized and distributed scenarios, respectively. Firstly, an improved Paillier cryptosystem is utilized to achieve lightweight encryption in the proposed schemes. In addition, a novel distributed data aggregation structure that combines a large number of geographically distributed fog nodes with centralized cloud servers is introduced. This structure not only meets the requirements of lightweight encryption and resistance against single point failures but also reduces the communication complexity of distributed data aggregation to O(n). According to the security proofs and experimental analysis, it can be demonstrated that both proposed schemes are effective and secure, meeting the lightweight requirements of modern smart grid systems. © 2025 IEEE. All rights reserved,

关键词： Data aggregation

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Robustness Verification of Classification Deep Neural Networks via Linear Programming

Robustness Verification of Classification Deep Neural Networ...

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IEEE/CVF Conference on Computer Vision and Pattern Recognition

作者： Wang Lin Zhengfeng Yang Xin Chen Qingye Zhao Xiangkun Li Zhiming Liu Jifeng He School of Information Science and Technology Zhejiang Sci-Tech University Shanghai Key Lab of Trustworthy Computing East China Normal University State Key Laboratory for Novel Software Technology Nanjing University Center for Research and Innovation in Software Engineering Southwest University

ISBN: (纸本)9781728132945

There is a pressing need to verify robustness of classification deep neural networks (CDNNs) as they are embedded in many safety-critical applications. Existing robustness verification approaches rely on computing the over-approximation of the output set, and can hardly scale up to practical CDNNs, as the result of error accumulation accompanied with approximation. In this paper, we develop a novel method for robustness verification of CDNNs with sigmoid activation functions. It converts the robustness verification problem into an equivalent problem of inspecting the most suspected point in the input region which constitutes a nonlinear optimization problem. To make it amenable, by relaxing the nonlinear constraints into the linear inclusions, it is further refined as a linear programming problem. We conduct comparison experiments on a few CDNNs trained for classifying images in some state-of-the-art benchmark-s, showing our advantages of precision and scalability that enable effective verification of practical CDNNs.

关键词： linear programming Verification Robustness Neural network Scalability

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Safety Verification of State/Time-Driven Hybrid Systems Using Barrier Certificates 35

Safety Verification of State/Time-Driven Hybrid Systems Usin...

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第35届中国控制会议

作者： WANG Guobin LIU Jing SUN Haiying LIU Jie DING Zuohua ZHANG Miaomiao Shanghai Key Laboratory of Trustworthy Computing National Trustworty Embeded Software Engineering Technogy Research CenterEast China Normal University School of Informatics and Electronics Zhejiang Sci-Tech University School of Software Engineering Tongji University

ISBN: (纸本)9781509009107

This paper addresses formal safety verification issue of hybrid systems which resort either state-driven or timedriven strategies. Modeling hybrid systems as linear hybrid automata, we provide a formal method for safety verification by constructing barrier certificates whose existence guarantees the soundness of safety specifications. Barrier certificates for safety of state-driven hybrid systems are presented. Particularly, we propose a formal method for constructing time-dependent barrier certificates and show its sufficiency for safety of time-driven hybrid systems. Through formulating the search of time-dependent barrier certificates as a bilinear sum-of-squares programming problem, a computationally tractable method is proposed to derive a certification on safety in polynomial time. A numerical example illustrates the efficiency of the proposed approach.

关键词： Hybrid System Safety Verification Formal Methods

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The 5th International Conference on Biomedical engineering and Biotechnology (ICBEB 2016) Abstracts

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BMC MEDICAL IMAGING 2016年第SUPPL 1期16卷 65-65页

作者： [Anonymous] Department of MRI Shandong Medical Imaging Research Institute Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China Department of Interventional Radiology Shandong Provincial Hospital Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China College of Information Science and Technology Engr. Research Center of Digitized Textile & Fashion Tech. for Ministry of Education Donghua University Shanghai 201620 China Intelligent multimedia information processing Lab College of Software Northeastern University Shenyang Liaoning Province 110004 China Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Computer Science and Technology Nanjing Normal University Nanjing China Department of Electrical Engineering The City College of New York CUNY New York USA Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing China School of Electronic Science and Engineering Nanjing University Nanjing Jiangsu 210046 China College of Engineering Nanyang Technological University Singapore 639798 Singapore School of Electronic Information Shanghai Dianji University Shanghai China School of Natural Sciences and Mathematics Shepherd University Shepherdstown WV 25443 USA Davis College of Agriculture Natural Resources and Design West Virginia University Morgantown WV 26505 USA State Key Laboratory of Millimeter Waves Southeast University Nanjing 210096 China Center of Medical Physics and Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China College of Agricultural and Life Sciences University of Florida Gainesville FL 32611 USA Courant Institute of Mathematical Sciences New York University New York NY 10012 USA Translational Imaging Division & MRI Unit Columbia University and New York State Psychiatric Institute New York NY 10032 USA Guangxi Key Laboratory of Manufacturing System & Adv

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Hybrid MARTE statecharts

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Frontiers of Computer science 2013年第1期7卷 95-108页

作者： Jing LIU Ziwei LIU Jifeng HE Freederic MALLET Zuohua DING Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai 200062 China INRIA Sophia Antipolis M6diterran6e Sophia Antipolis 06902 France Center of Math Computing and Software Engineering Zhejiang Sci-Tech University Hangzhou 310018 China

The specification of modeling and analysis of real-time and embedded systems （MARTE） is an extension of the unified modeling language （UML） in the domain of real-time and embedded systems. Even though MARTE time model offers a support to describe both discrete and dense clocks, the biggest effort has been put so far on the specifi- cation and analysis of discrete MARTE models. To address hybrid real-time and embedded systems, we propose to ex- tend statecharts using both MARTE and the theory of hybrid automata. We call this extension hybrid MARTE statecharts. It provides an improvement over the hybrid automata in that： the logical time variables and the chronometric time vari- ables are unified. The formal syntax and semantics of hybrid MARTE statecharts are given based on labeled transition sys- tems and live transition systems. As a case study, we model the behavior of a train control system with hybrid MARTE statecharts to demonstrate the benefit.

关键词： UML MARTE hybrid automata hybrid MARTE statechart train control system

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Testing Central Processing Unit Scheduling Algorithms Using Metamorphic Testing

Testing Central Processing Unit Scheduling Algorithms Using ...

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2013 IEEE 4th International Conference on software engineering and Service science

作者： Mingyue Jiang Tsong Yueh Chen Fei-Ching Kuo Zuohua Ding Center of Math Computing and Software Engineering Zhejiang Sci-Tech University Faculty of Information and Communication Technologies Swinburne University of Technology Hawthorn Victoria3122Australia

ISBN: (纸本)9781467349994

Central Processing Unit（CPU） scheduling is used to allocate CPU for multiple *** is one of the most important resources in the computer system,and its scheduling is vital and influential in operating ***,it is necessary to ensure the correctness of the CPU scheduling ***,testing the correctness of a scheduling program is difficult because it is hard to verify the correctness of its output,which is known as the test oracle problem in software *** Testing（MT） which has been recently proposed to alleviate the test oracle problem,is applied to test the CPU scheduling *** this paper,we use MT to test the Highest Response Ratio Next（HRRN） scheduling *** simulators of HRRN scheduler are used in the evaluation of our ***,some real life faults in one open source simulator are detected by *** experiments are performed based on mutants,and the experimental results show that MT is an effective strategy to test CPU scheduler.

关键词： software Testing Metamorphic Testing Scheduling Algorithm Test oracle Oracle Problem

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Schedulability Analysis with CCSL Specifications

Schedulability Analysis with CCSL Specifications

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Asia-Pacific Conference on software engineering

作者： Ling Yin Jing Liu Zuohua Ding Frédéric Mallet Robert de Simone Shanghai Key lab of Trustworthy Computing East China Normal University Shanghai China Center of Math Computing and Software Engineering Zhejiang Sci-Tech University Hangzhou Zhejiang China INRIA Sophia Antipolis Méditerranée France

ISBN: (纸本)9781479921454

The Clock Constraint Specification Language (CCSL) is a formal polychronous language based on the notion of logical clock. It defines a set of kernel constraints that can represent both asynchronous and synchronous relations. It was originally developed as part of the UML Profile for MARTE to express causal and temporal constraints of Real-time and Embedded Systems. In this paper, we explore the use of CCSL for modeling scheduling requirements and to conduct schedulability analysis. For this purpose, a dedicated scheduling library of CCSL has been built. This library is endowed with a state-based operational semantics, and is applied to solve issues related to schedulability analysis and latency-insensitive design. We establish schedulability categories and latency-insensitiveness property in the context of the semantics, and solve those issues by using model checking techniques.

关键词： software engineering

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From message sequence charts to service component model

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2nd International Conference of Electrical and Electronics engineering, ICEEE 2011

作者： Jiang, Mingyue Ding, Zuohua Center of Math Computing and Software Engineering Zhejiang Sci.-Tech. University Hangzhou Zhejiang 310018 China

ISBN: (纸本)9783642260001

Message Sequence Charts (MSCs) are a popular visual formalism for documenting system requirements. From MSCs to architecture level model is usually through manual work, which puts the burden on the human and may introduce errors to the design. In this paper, we present a framework for automatically mapping MSCs to service component models from a model-based point of view. The generated models capture service component signatures and language independent dynamic behaviors. We have implemented our framework and demonstrated the benefits via a case study. © 2012 Springer-Verlag.

关键词： Flowcharting

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From textual use cases to message sequence charts

From textual use cases to message sequence charts

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International Conference on Information engineering and Applications, IEA 2011

作者： Jiang, Mingyue Ding, Zuohua Center of Math Computing and Software Engineering Zhejiang Sci.-Tech. University Hangzhou Zhejiang 310018 China

ISBN: (纸本)9781447123859

System's requirements can be specified by textual use cases since their concrete, narrative style of expression makes them very effective for eliciting software requirements. However, use cases are stated in natural languages lacking in formal syntax and semantics, thus have a poor basis for formal reasoning about the system's behavior and properties. It is our attempt to give a solution to solve this issue to some extent. © 2012 Springer-Verlag London Limited.

关键词： Semantics

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