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Robust tube-based MPC with smooth computation for dexterous robot manipulation

science China(information sciences) 2024年第11期67卷 252-268页

作者： Yu LUO Tianying JI Fuchun SUN Qie SIMA Huaping LIU Mingxuan JING Jianwei ZHANG Department of Computer Science and Technology Tsinghua University Science & Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences Department of Informatics University of Hamburg

Dexterous robot manipulation has shone in complex industrial scenarios, where multiple manipulators, or fingers, cooperate to grasp and manipulate objects. When encountering multi-objective optimization with system constraints in such scenarios, model predictive control(MPC) has demonstrated exceptional performance in complex multi-robot manipulation tasks involving multi-objective optimization with system constraints. However, in such scenarios, the substantial computational load required to solve the optimal control problem(OCP) at each triggering instant can lead to significant delays between state sampling and control application, hindering real-time performance. To address these challenges, this paper introduces a novel robust tube-based smooth MPC approach for two fundamental manipulation tasks: reaching a given target and tracking a reference trajectory. By predicting the successor state as the initial condition for imminent OCP solving, we can solve the forthcoming OCP ahead of time, alleviating delay effects. Additionally,we establish an upper bound for linearizing the original nonlinear system, reducing OCP complexity and enhancing response speed. Grounded in tube-based MPC theory, the recursive feasibility and closed-loop stability amidst constraints and disturbances are ensured. Empirical validation is provided through two numerical simulations and two real-world dexterous robot manipulation tasks, which shows that the seamless control input by our methods can effectively enhance the solving efficiency and control performance when compared to conventional time-triggered MPC strategies.

关键词： dexterous robot manipulation model predictive control smooth computation

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Feature Distillation GAN: An Adversarial Example Defense Method Based on Feature Reconstruction 2nd

Feature Distillation GAN: An Adversarial Example Defense Met...

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2nd International Conference on Network Simulation and Evaluation, NSE 2023

作者： Liu, Ruiqi Li, Hu Wang, Dongxia Zhao, Chongyang Li, Boyu National Key Laboratory of Science and Technology On Information System Security Beijing China

ISBN: (纸本)9789819745180

Purifying and reconstructing adversarial examples into benign ones by generative models is a class of defense methods to eliminate adversarial perturbations. These methods do not make assumptions on adversarial attacks or model architectures, and thus can defend classifiers against unseen threats. In this work, we propose a new GAN-based adversarial purification method Feature Distillation GAN (FDGAN). We consider how to eliminate the feature differences between adversarial examples and benign examples which are difficult for humans to perceive. We extract and analyze the differences between the adversarial examples and the benign examples from multiple dimensionals. On the basis of comparing the differences among various features, we propose a new feature-level perspective on adversarial purification, design a new adversarial example purification method for image inputs, and implement our method based on GAN. Experimental results show that FDGAN is effective against unknown adversarial attacks and outperforms all the purification methods we used for comparison. Evaluating FDGAN against strong adaptive attacks, the robust accuracy of FDGAN under AutoAttack (L∞ = 8/255) exceeds the SOTA adversarial training methods on the Robustbench. Furthermore, FDGAN has lower training cost and can be combined with a variety of model-based defense strategies to further improve the defense effectiveness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Distillation

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Unsupervised Meteorological Downscaling Based on Dual Learning and Subgrid-scale Auxiliary information

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Advances in Atmospheric sciences 2025年第1期42卷 53-66页

作者： Jing HU Jialing MU Xiaomeng HUANG Xi WU Department of Computer Science Chengdu University of Information TechnologyChengdu 610225China Department of Earth System Science Ministry of Education Key Laboratory for Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing 100084China

Climate downscaling is used to transform large-scale meteorological data into small-scale data with enhanced detail,which finds wide applications in climate modeling,numerical weather forecasting,and renewable *** deeplearning-based downscaling methods effectively capture the complex nonlinear mapping between meteorological data of varying scales,the supervised deep-learning-based downscaling methods suffer from insufficient high-resolution data in practice,and unsupervised methods struggle with accurately inferring small-scale specifics from limited large-scale inputs due to small-scale *** article presents DualDS,a dual-learning framework utilizing a Generative Adversarial Network–based neural network and subgrid-scale auxiliary information for climate *** a learning method is unified in a two-stream framework through up-and downsamplers,where the downsampler is used to simulate the information loss process during the upscaling,and the upsampler is used to reconstruct lost details and correct errors incurred during the *** dual learning strategy can eliminate the dependence on high-resolution ground truth data in the training process and refine the downscaling results by constraining the mapping *** findings demonstrate that DualDS is comparable to several state-of-the-art deep learning downscaling approaches,both qualitatively and ***,for a single surface-temperature data downscaling task,our method is comparable with other unsupervised algorithms with the same dataset,and we can achieve a 0.469 dB higher peak signal-to-noise ratio,0.017 higher structural similarity,0.08 lower RMSE,and the best correlation *** summary,this paper presents a novel approach to addressing small-scale uncertainty issues in unsupervised downscaling processes.

关键词： downscaling unsupervised deep learning dual learning auxiliary information

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m2Vib: 2D Vibration Measurement Using a Single mmWave Radar 30

m2Vib: 2D Vibration Measurement Using a Single mmWave Radar

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30th IEEE International Conference on Parallel and Distributed systems, ICPADS 2024

作者： Wang, Haolin Xu, Wei Li, Zezhao Yang, Yanni Huang, Zhijian Shandong University School of Computer Science and Technology Qingdao China National Key Laboratory of Science and Technology on Information System Security China

ISBN: (纸本)9798331515966

Two-dimensional vibration measurement is essential for monitoring structure and machine health, especially providing more information than those 1D solutions. However, most existing 2D vibration monitoring methods require multi-dimension sensors, which can be costly for large-scale deployment. In this paper, we propose m^2 Vib, the first work that can realize accurate 2D vibration measurement using a single mmWave radar. Our system is achieved by creating a virtual radar with non-line-of-sight (NLoS) signals from a nearby reflector (e.g., wall) to offer the 2nd-dimension vibration observations. We further establish a geometric model to unveil the relationship between 2D vibration displacement and mmWave signal. Such an idea still encounters challenges from significantly attenuated NLoS signals and low-resolution geometric parameters from the commercial mmWave radar. Thus, we design a new retroreflector to enhance NLoS signals and advanced signal processing methods to obtain fine-grained geometric parameters. Extensive experimental results show that we can achieve sub-mm level 2D vibration measurement with an average vibration displacement error of 62.2 um and frequency error of 0.01 Hz in the X-axis and Y-axis. © 2024 IEEE.

关键词： Vibration measurement

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THL: Fast Targeted High Utility Itemset Mining within Length Consideration

Journal of Network Intelligence

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Journal of Network Intelligence 2025年第1期10卷 541-558页

作者： Xu, Peiming Jiang, Yixin Kuang, Xiaoyun Luo, Yu Chen, Jiahui Guangdong Provincial Key Laboratory of Power System Network Security CSG Guangzhou510000 China School of Computer Science and Technology Guangdong University of Technology Guangzhou510006 China

High utility itemset mining is a research topic of the pattern mining domain, which has been widely applied in reality during the past decade. Although most high utility itemset mining algorithms show significant execution performance regarding runtime and memory usage, numerous results are useless for users. Targeted high utility itemset mining can reduce the number of high utility itemsets and improve the efficiency of pattern analysis. However, the targeted high utility itemset mining task aims to find targeted high utility itemsets with as many items as possible. Users are not that interested in long results in actual scenarios. Therefore, in this article, we first formulate the problem and then address this issue by proposing a new algorithm named THL for mining targeted high utility itemset within length constraints, based on utility list structure. Furthermore, to improve the performance of the novel algorithm, THL adopts several efficiency pruning strategies, including length and utility aspects. Finally, we conduct an extensive experimental evaluation to compare the SOTA algorithms with THL on several datasets. © 2025, Taiwan Ubiquitous information CO LTD. All rights reserved.

关键词： data mining high utility itemset length constraint targeted items

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CRP2-VCS: Contrast-Oriented Region-based Progressive Probabilistic Visual Cryptography Schemes

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IEEE Transactions on Circuits and systems for Video technology 2025年第6期35卷 5501-5517页

作者： Wu, Xiaotian Song, Bofan Fang, Jia Yan, WeiQi Peng, Qing-Yu Jinan University Guangdong Key Laboratory of Data Security and Privacy Preserving College of Cyber Security College of Information Science and Technology Guangzhou China Auckland University of Technology Department of Computer and Information Systems Auckland New Zealand Jinan University Sino-French Joint Laboratory for Astrometry Dynamics and Space Science Guangzhou China

Most visual cryptography schemes (VCSs) are condition-oriented which implies their designs focus on satisfying the contrast and security conditions in VCS. In this paper, we explore a new architecture of VCS: contrast-oriented region-based progressive probabilistic VCS (CRP2-VCS). The term contrast-oriented indicates the optimality of multi-contrast is taken into consideration when producing shadows. First of all, new requirements for CRP2-VCS, described by probabilities, are introduced. As a non-interference requirement is proposed, the secret interference problem in existing region-based progressive VCS can be avoided. Then, a construction of CRP2-VCS based on a multi-contrast-maximizing model is provided. The multi-contrast-maximizing problem is essentially a probabilistic VCS model that fuses region-based sharing, multi-contrast optimization, and general access structure (GAS) together. Finally, a Max-Min based technique is adopted to solve the multi-objective optimization problem. Moreover, to further boost the visual quality, the proposed method is extended to allow employing XOR operation for image recovery. Experimental results and comparisons are demonstrated to show the effectiveness and advantages, such as optimal visual quality, non-expansible shadow and GAS sharing policy, are provided by the proposed technique. © 2025 IEEE.

关键词： Visualization Cryptography Probabilistic logic Interference Encoding Circuits and systems Polynomials Optimization Minimax techniques Computational modeling

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Collaborative Service Provisioning for UAV-Assisted Mobile Edge Computing

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Chinese Journal of Electronics 2024年第6期33卷 1504-1514页

作者： Yuben QU Zhenhua WEI Zhen QIN Tao WU Jinghao MA Haipeng DAI Chao DONG The Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information Technology Colllege of Electronic and Information Engineering Nanjing University of Aeronautics and Astronautics Xi'an Research Institute of High Technology Department of Information and Communication Noncommissioned Officer Academy of PAP National University of Defense Technology Department of Computer Science and Technology Nanjing University

Unmanned aerial vehicle(UAV)-assisted mobile edge computing(MEC), as a way of coping with delaysensitive and computing-intensive tasks, is considered to be a key technology to solving the challenges of terrestrial MEC networks. In this work, we study the problem of collaborative service provisioning(CSP) for UAV-assisted MEC. Specifically, taking into account the task latency and other resource constraints, this paper investigates how to minimize the total energy consumption of all terrestrial user equipments, by jointly optimizing computing resource allocation, task offloading, UAV trajectory, and service placement. The CSP problem is a non-convex mixed integer nonlinear programming problem, owing to the complex coupling of mixed integral variables and non-convexity of CSP. To address the CSP problem, this paper proposes an alternating optimization-based solution with the convergence guarantee as follows. We iteratively deal with the joint service placement and task offloading subproblem, and UAV movement trajectory subproblem, by branch and bound and successive convex approximation, respectively,while the closed form of the optimal computation resource allocation can be efficiently obtained. Extensive simulations validate the effectiveness of the proposed algorithm compared to three baselines.

关键词： Energy consumption Multi-access edge computing Collaboration Programming Autonomous aerial vehicles Minimization Trajectory Resource management Optimization Convergence

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Test Suite Generation Based on Context-Adapted Structural Coverage for Testing DNN 24

Test Suite Generation Based on Context-Adapted Structural Co...

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24th Asia-Pacific Network Operations and Management Symposium, APNOMS 2023

作者： Kong, Wei Du, Qianjin Cao, Huayang Li, Hu Wang, Tong Tian, Jianwen Kuang, Xiaohui National Key Laboratory of Science and Technology on Information System Security Beijing China Department of Computer Science and Technology Tsinghua University Beijing China

ISBN: (纸本)9788995004395

Deep learning (DL) introduces a novel data-driven programming paradigm, where the system logic is constructed through data training. However, this approach poses challenges in terms of system analysis and defect detection. To address this issue, recent efforts have focused on testing deep learning systems using intuitive criteria known as Neuron Coverage (NC) and its variants. These criteria measure the activation proportion of neurons in a neural network. Unfortunately, recent DL applications have largely overlooked the importance of context during testing. To address this gap, this paper first incorporates the context of the DL pipeline deployed before test execution, such as medical diagnosis and Android Malware detection. Next, we formulate structural coverage criteria to guide test suite generation based on the properties of DL pipeline in different contexts. Furthermore, we proposed a coverage-guided search algorithm to efficiently generate test suites. Experimental results highlight the effectiveness of our approach in uncovering numerous erroneous behaviors in contexts such as medical image diagnosis and Android malware detection. This approach significantly enhances the robustness of DL models by considering the structural aspects of the DL pipeline. Copyright 2023 KICS.

关键词： Deep learning

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Weighted Attribute Based Conditional Proxy Re-Encryption in the Cloud

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computers, Materials & Continua 2025年第4期83卷 1399-1414页

作者： Xixi Yan Jing Zhang Pengyu Cheng Henan Key Laboratory of Network Cryptography Technology Network Information Security and Cryptography LaboratorySchool of SoftwareHenan Polytechnic UniversityJiaozuo454003China School of Computer Science and Technology Henan Polytechnic UniversityJiaozuo454000China

Conditional proxy re-encryption(CPRE)is an effective cryptographic primitive language that enhances the access control mechanism and makes the delegation of decryption permissions more granular,but most of the attribute-based conditional proxy re-encryption(AB-CPRE)schemes proposed so far do not take into account the importance of user attributes.A weighted attribute-based conditional proxy re-encryption(WAB-CPRE)scheme is thus designed to provide more precise decryption rights *** introducing the concept of weight attributes,the quantity of system attributes managed by the server is reduced *** the same time,a weighted tree structure is constructed to simplify the expression of access structure *** conditional proxy re-encryption,large amounts of data and complex computations are outsourced to cloud servers,so the data owner(DO)can revoke the user’s decryption rights directly with minimal *** scheme proposed achieves security against chosen plaintext attacks(CPA).Experimental simulation results demonstrated that the decryption time is within 6–9 ms,and it has a significant reduction in communication and computation cost on the user side with better functionality compared to other related schemes,which enables users to access cloud data on devices with limited resources.

关键词： Cloud service conditional proxy re-encryption user revocation weighted attribute

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Detecting Double Mixed Compressed Images Based on Quaternion Convolutional Neural Network

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Chinese Journal of Electronics 2024年第3期33卷 657-671页

作者： Hao WANG Jinwei WANG Xuelong HU Bingtao HU Qilin YIN Xiangyang LUO Bin MA Jinsheng SUN Department of Automation Nanjing University of Science and Technology Engineering Research Center of Digital Forensics Ministry of Education Department of Computer and Software Nanjing University of Information Science and Technology School of Management Nanjing University of Posts and Telecommunications Department of Computer Science and Engineering Guangdong Province Key Laboratory of Information Security Technology Sun Yat-sen University State Key Laboratory of Mathematical Engineering and Advanced Computing Qilu University of Technology

Detection of color images that have undergone double compression is a critical aspect of digital image *** the existence of various methods capable of detecting double Joint Photographic Experts Group(JPEG) compression,they are unable to address the issue of mixed double compression resulting from the use of different compression *** particular,the implementation of Joint Photographic Experts Group 2000(JPEG2000)as the secondary compression standard can result in a decline or complete loss of performance in existing *** tackle this challenge of JPEG+JPEG2000 compression,a detection method based on quaternion convolutional neural networks(QCNN) is *** QCNN processes the data as a quaternion,transforming the components of a traditional convolutional neural network(CNN) into a quaternion *** relationships between the color channels of the image are preserved,and the utilization of color information is ***,the method includes a feature conversion module that converts the extracted features into quaternion statistical features,thereby amplifying the evidence of double *** results indicate that the proposed QCNN-based method improves,on average,by 27% compared to existing methods in the detection of JPEG+JPEG2000 compression.

关键词： Color image forensics JPEG JPEG2000 Mixed double compression Quaternion convolutional neural network

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