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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Kun Luo Gang Xiong Yuxiao Wang Bin Hu Sheng Liu Shichao Chen The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijng China School of Artificial Intelligence University of Chinese Academy of Sciences Beijng China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Beijng China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijng China

Regarding human-machine collaborative task, generated trajectories of a robot manipulator should be able to avoid joint limits and singularities, but the 6 Degrees of Freedom(DoF) or lower DoF manipulators encounter difficulties in many schemes. In this paper, research is implemented on the methods of trajectory planning and motion control on the newly human-machine collaborative 7-DoF Sawyer manipulator. We try to pay more attention to these approaches and find a better combination between trajectory planners and motion controllers for Sawyer manipulator. First of all, comparison is proposed between the methods about trajectory planning in task space and joint space, drawing a conclusion that the latter has the advantage of quickness and smoothness on trajectories in real time. Next, we choose to plan trajectory in the joint space by interpolating positions and orientations. Three approaches, i.e., trapezoidal velocity trajectory, cubic polynomial trajectory and basic spline trajectory, are applied to interpolate positions. Experimental results show that it results in the smoothest trajectory using basic spline trajectory planning. We also compare linear and nonlinear orientation interpolations to address the angle wrapping issue, which leads to difficulties in smooth orientation interpolation between several waypoints. Combining polynomial trajectory planning methods with the proportional-derivative (PD) motion controller and the computed-torque motion controller, we focus on the performance of the two different combinations. It is found that trajectories with computed-torque controller have shorter path with a congruous convergence on joint position, and more accurate trajectories with less overshoots in position than others.

关键词： Interpolation Trajectory planning Collaboration Aerospace electronics Manipulators Trajectory Task analysis

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A security scheme for intelligent substation communications considering real-time performance

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Journal of Modern Power Systems and Clean Energy 2019年第4期7卷 948-961页

作者： Jie ZHANG Jun’e LI Xiong CHEN Ming NI Ting WANG Jianbo LUO Key Laboratory of Aerospace Information Security and Trusted Computing Ministry of EducationSchool of Cyber Science and EngineeringWuhan UniversityWuhan 430072China NARI Group Corporation(State Grid Electric Power Research Institute) Nanjing 211106China NARI Technology Co.Ltd. Nanjing 211106China State Key Laboratory of Smart Grid Protection and Control Nanjing 211106China

Tampering,forgery and theft of the measurement and control messages in a smart grid could cause one breakdown in the power ***,no security measures are employed for communications in intelligent *** services in an intelligent substation have high demands for real-time performance,which must be considered when deploying security *** paper studies the security requirements of communication services in intelligent substations,analyzes the security capabilities and shortages of IEC 62351,and proposes a novel security scheme for intelligent substation *** security scheme covers internal and telecontrol communications,in which the real-time performance of each security measure is *** this scheme,certificateless public key cryptography(CLPKC)is used to avoid the latency of certificate exchange in certificate-based cryptosystem and the problem of key escrow in identity-based cryptosystem;the security measures of generic object-oriented substation event,sampled measure value and manufacturing message specification in IEC 62351 are improved to meet the real-time requirements of the messages as well as to provide new security features to resist repudiation and replay attacks;and the security at transport layer is modified to fit CLPKC,which implements mutual authentication by exchanging ***,a deployment of CLPKC in an intelligent substation is *** also evaluate the security properties of the scheme and analyze the end-to-end delays of secured services by combining theoretical calculation and simulation in this *** results indicate that the proposed scheme meets the requirements of security and real-time performance of communications in intelligent substations.

关键词： Intelligent substation Security measures Certificateless public key cryptography(CLPKC) Real-time communication IEC 62351

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A Lightweight, Real-Time, High-Precision Calibrated Photometric Stereo Measurement Method

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Zhang, Zhao Feng, Han Tian, Xiaoyan Hu, Peiyan Chang, Yuetong Xia, Guangming Shang, Shuxian Wu, Biwei Wang, Weibo Harbin Institute of Technology Center of Ultraprecision Optoelectronic Instrument Engineering Harbin150001 China Ministry of Industry and Information Technology Key Lab of Ultra-precision Intelligent Instrumentation Harbin Institute of Technology Harbin150001 China China FA W Group Co. Ltd National Key Laboratory of Advanced Vehicle Integration & Control Changchun130013 China Harbin Institute of Technology Faculty of Computing Harbin150001 China

Photometric stereo represents a sophisticated technique utilized to capture high-fidelity surface textures and morphologies under varying illumination angles, with substantial applications in fields such as quality assurance and cultural heritage preservation. However, contemporary implementations often grapple with challenges in achieving high-precision measurements that are both economically feasible and conducive to real-time processing. To address these challenges, we propose a Dual-Scale Feature Fusion (DSFF) photometric stereo network coupled with a Shadow-Fusing Supervised (SFS) training strategy. By aggregating dual-scale features and effectively leveraging shadow-occluded regions, the proposed approach overcomes limitations of existing techniques, enabling low-cost, real-time, and high-precision measurement of complex morphologies across diverse materials. Experimental results on four authoritative public datasets demonstrate that our methods outperform nearly 30 state-of-the-art approaches in key metrics such as measurement accuracy, memory consumption, and inference time. These results highlight the breakthrough improvements and the immense potential for application in various fields. © 1963-2012 IEEE.

关键词： Stereo image processing

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Innovations in Simulation: Experiences With Cloud-Based Simulation Experimentation

Innovations in Simulation: Experiences With Cloud-Based Simu...

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Simulation Winter Conference

作者： Simon J. E. Taylor Anastasia Anagnostou Nura Tijjani Abubakar Tamas Kiss James DesLauriers Gabor Terstyanszky Peter Kacsuk Jozsef Kovacs Shane Kite Gary Pattison James Petry Modelling & Simulation Group Brunel University London Uxbridge UK Centre for Parallel Computing School of Computer Science and Engineering University of Westminster London UK Institute for Computer Science and Control (SZTAKI) Budapest HUNGARY Saker Solutions Ltd Warwickshire UK

ISBN: (数字)9781728194998

ISBN: (纸本)9781728195001

The amount of simulation experimentation that can be performed in a project can be restricted by time, especially if a model takes a long time to simulate and many replications are required. Cloud computing presents an attractive proposition to speeding up, or extending, simulation experimentation as computing resources can be hired on demand rather than having to invest in costly infrastructure. However, it is not common practice for simulation users to take advantage of this and, arguably, rather than speeding up simulation experimentation users tend to make compromises by using unnecessary model simplification techniques. This may be due to a lack of awareness of what Cloud computing can offer. Based on several years' experience of innovation in this area, this article presents our experiences in developing Cloud computing applications for simulation experimentation and discusses what future innovations might be created for the widespread benefit of our simulation community.

关键词： Technological innovation Cloud computing Computational modeling Optimization

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Student entrance knowledge, expectations, and motivation within introductory programming courses in Portugal and Serbia 47

Student entrance knowledge, expectations, and motivation wit...

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47th SEFI Annual Conference 2019 - Varietas Delectat: Complexity is the New Normality

作者： Alves, L. Gajić, D. Rangel Henriques, P. Ivančević, V. Lalić, M. Luković, I. Varanda Pereira, M.J. Popov, S. Correia Tavares, P. Instituto Politécnico de Bragança Escola Superior de Tecnologia e Gestão Departamento de Informática e Comunicações Bragança Portugal University of Novi Sad Faculty of Technical Sciences Department of Computing and Control Engineering Novi Sad Serbia Universidade do Minho Escola de Engenharia Departamento de Informática Braga Portugal Instituto Superior de Engenharia do Porto Departamento de Engenharia Informática Porto Portugal

ISBN: (纸本)9782873520182

Programming is a skill needed across various disciplines and it is becoming more valuable for many job positions. However, students still appear to struggle in introductory programming courses. Academic achievement in programming may be influenced by numerous factors and may vary across countries, as observed in a previous study focused on Portugal and Serbia. In the present study, factors generally related to achievement and attrition, namely student entrance knowledge, expectations, and motivation, were examined as possible reasons behind achievement issues in introductory programming. An anonymous questionnaire that comprised closed-ended items was given to students enrolled in introductory programming courses at technically oriented higher education institutions in Portugal and Serbia. After data cleansing, response data from 678 students were quantitatively analysed to identify overall characteristics of the investigated groups, as well as differences between the groups from the two countries. The students generally had numerous expectations and motives regarding introductory programming, but their reported entrance knowledge of programming was generally at low levels. on average, the groups from the two countries were similar. The main differences include higher entrance knowledge for students from Serbia and slightly higher expectations for students from Portugal. These findings form a basis for further inquiry into causes of previously observed student performance variations between Portugal and Serbia. As there are many commonalities between the students from these countries, we may work on novel instruction methods and tools that would be useful for programming teachers and enrolled students in both countries. © 2020 SEFI 47th Annual Conference: Varietas Delectat... Complexity is the New Normality, Proceedings. All rights reserved.

关键词： Students

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DeepACC:Automate Chromosome Classification based on Metaphase Images using Deep Learning Framework Fused with Prior Knowledge

arXiv

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arXiv 2020年

作者： Luo, Chunlong Yu, Tianqi Luo, Yufan Wang, Manqing Yu, Fuhai Li, Yinhao Tian, Chan Qiao, Jie Xiao, Li Key Laboratory of Intelligent Information Processing Advanced Computer Research Center Institute of Computing Technology Chinese Academy of Sciences Beijing China Peking University Third Hospital Beijing China School of Computer and Control Engineering University of Chinese Academy of China

Chromosome classification is an important but difficult and tedious task in karyotyping. Previous methods only classify manually segmented single chromosome, which is far from clinical practice. In this work, we propose a detection based method, DeepACC, to locate and fine classify chromosomes simultaneously based on the whole metaphase image. We firstly introduce the Additive Angular Margin Loss to enhance the discriminative power of model. To alleviate batch effects, we transform decision boundary of each class case-by-case through a siamese network which make full use of prior knowledges that chromosomes usually appear in pairs. Furthermore, we take the clinically seven group criterion as a prior knowledge and design an additional Group Inner-Adjacency Loss to further reduce inter-class similarities. 3390 metaphase images from clinical laboratory are collected and labelled to evaluate the performance. Results show that the new design brings encouraging performance gains comparing to the state-of-the-art baselines. Copyright © 2020, The Authors. All rights reserved.

关键词： Chromosomes

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Defect segmentation: Mapping tunnel lining internal defects with ground penetrating radar data using a convolutional neural network

arXiv

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arXiv 2020年

作者： Yang, Senlin Wang, Zhengfang Wang, Jing Cohn, Anthony G. Zhang, Jiaqi Jiang, Peng Nie, Lichao Sui, Qingmei School of Control Science and Engineering Shandong University Jinan250061 China Geotechnical and Structural Engineering Research Center Shandong University Jinan250061 China School of Qilu Transportation Shandong University Jinan250061 China School of Computing University of Leeds LeedsLS29JT United Kingdom

This research proposes a Ground Penetrating Radar (GPR) data processing method for non-destructive detection of tunnel lining internal defects, called defect segmentation. To perform this critical step of automatic tunnel lining detection, the method uses a CNN called Segnet combined with the Lovsz softmax loss function to map the internal defect structure with GPR synthetic data, which improves the accuracy, automation and efficiency of defects detection. The novel method we present overcomes several difficulties of traditional GPR data interpretation as demonstrated by an evaluation on both synthetic and real datas - to verify the method on real data, a test model containing a known defect was designed and built and GPR data was obtained and analyzed. Copyright © 2020, The Authors. All rights reserved.

关键词： Defects

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Retraction notice to "An intrusion identification and prevention for cloud computing: From the perspective of deep learning" [Optik 270 (2022) 170044] (Optik (2022) 270, (S003040262201302X), (10.1016/***.2022.170044))

引用

Optik 2025年 335卷

作者： Kumar, Anil Umurzoqovich, Rajabov Sherzod Duong, Nguyen Duc Kanani, Pratik Kuppusamy, Arulmani Praneesh, M. Hieu, Minh Ngyen Data Science Research Group School of Computing DIT University Dehradun India The Head of the Department of Quality Control of Education Tashkent Institute of Finance Tashkent Uzbekistan East Asia University of Technology Hanoi Viet Nam Department of Computer Engineering D. J. Sanghvi College of Engineering Mumbai400056 India SASTRA Deemed to be University Thanjavur India PG & Research Department of Computer Science Sri Ramakrishna College of Arts & Science Tamil Nadu Coimbatore India Pusa Research Lab Viet Nam

This article has been retracted: please see Elsevier Policy on Article Withdrawal (https://***/locate/withdrawalpolicy). This article has been retracted at the request of the Editor-in-Chief. Post-publication, an investigation conducted on behalf of the journal by Elsevier's Research Integrity & Publishing Ethics team discovered suspicious changes in authorship between the original submission and the revised version of this paper. During revision, the authors Anil Kumar, Rajabov Sherzod Umurzoqovich, Nguyen Duc Duong, Pratik Kanani, Arulmani Kuppusamy, and Praneesh M were added to the revised paper;and three authors were removed;without explanation and without exceptional approval by the journal editor, which is contrary to the journal policy on changes to authorship. None of the Authors responded to three emails that were sent related to this investigation and requesting further information. As such and due to the nature of the irregularities uncovered, the Editor has lost confidence in the validity/integrity and findings of the article and decided to retract the article. The scientific community takes a very strong view on this matter and apologies are offered to readers. © 2025 Elsevier GmbH

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Hovering UAV-based FSO communications: Channel modelling, performance analysis, and parameter optimization

arXiv

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arXiv 2021年

作者： Wang, Jin-Yuan Ma, Yang Lu, Rong-Rong Wang, Jun-Bo Lin, Min Cheng, Julian College of Telecommunications and Information Engineering Nanjing University of Posts and Telecommunications Nanjing210003 China Shanghai Key Laboratory of Trustworthy Computing East China Normal University Shanghai200062 China Key Laboratory of Opto-technology and Intelligent Control Lanzhou Jiaotong University Lanzhou730070 China National Mobile Communications Research Laboratory Southeast University Nanjing210096 China College of Telecommunications and Information Engineering Nanjing University of Posts and Telecommunications Nanjing210003 China The School of Engineering The University of British Columbia KelownaBCV1V 1V7 Canada

Relay-assisted free-space optical (FSO) communication systems are exploited as a means to mitigate the limiting effects of the turbulence induced atmospheric scintillation. However, conventional ground relays are stationary, and their optimal placement is not always feasible. Due to their mobility and flexibility, unmanned aerial vehicles (UAVs) provide new opportunities for FSO relaying systems. In this paper, a hovering UAV-based serial FSO decode-and-forward relaying system is investigated. In the channel modelling for such a system, four types of impairments (i.e., atmospheric loss, atmospheric turbulence, pointing error, and link interruption due to angle-of-arrival fluctuation) are considered. Based on the proposed channel model, a tractable expression for the probability density function of the total channel gain is obtained. Closed-form expressions of the link outage probability and end-to-end outage probability are derived. Asymptotic outage performance bounds for each link and the overall system are also presented to reveal insights into the impacts of different impairments. To improve system performance, we optimize the beam width, field-of-view and UAVs' locations. Numerical results show that the derived theoretical expressions are accurate to evaluate the outage performance of the system. Moreover, the proposed optimization schemes are efficient and can improve performance significantly. Copyright © 2021, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Optimal control of linear Gaussian quantum systems via quantum learning control

arXiv

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arXiv 2024年

作者： Liu, Yu-Hong Zeng, Yexiong Tan, Qing-Shou Dong, Daoyi Nori, Franco Liao, Jie-Qiao Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan Province Department of Physics Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha410081 China Theoretical Quantum Physics Laboratory Cluster for Pioneering Research RIKEN Wakoshi Saitama351-0198 Japan Quantum Computing Center RIKEN Wakoshi Saitama351-0198 Japan Key Laboratory of Hunan Province on Information Photonics and Freespace Optical Communication College of Physics and Electronics Hunan Institute of Science and Technology Yueyang414000 China School of Engineering and Information Technology University of New South Wales CanberraACT2600 Australia Department of Physics The University of Michigan Ann ArborMI48109-1040 United States Institute of Interdisciplinary Studies Hunan Normal University Changsha410081 China

Efficiently controlling linear Gaussian quantum (LGQ) systems is a significant task in both the study of fundamental quantum theory and the development of modern quantum technology. Here, we propose a general quantum-learning-control method for optimally controlling LGQ systems based on the gradient-descent algorithm. Our approach flexibly designs the loss function for diverse tasks by utilizing first- and second-order moments that completely describe the quantum state of LGQ systems. We demonstrate both deep optomechanical cooling and large optomechanical entanglement using this approach. Our approach enables the fast and deep ground-state cooling of a mechanical resonator within a short time, surpassing the limitations of sideband cooling in the continuous-wave driven strong-coupling regime. Furthermore, optomechanical entanglement could be generated remarkably fast and surpass several times the corresponding steady-state entanglement, even when the thermal phonon occupation reaches one hundred. This work will not only broaden the application of quantum learning control, but also open an avenue for optimal control of LGQ systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Cooling

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