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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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Visual Object Tracking via Cascaded RPN Fusion and Coordinate Attention

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Computer Modeling in engineering & Sciences 2022年第9期132卷 909-927页

作者： Jianming Zhang Kai Wang Yaoqi He Lidan Kuang School of Computer and Communication Engineering Changsha University of Science and TechnologyChangsha410114China Hunan Provincial Key Laboratory of Intelligent Processing of Big Data on Transportation Changsha University of Science and TechnologyChangsha410114China

Recently,Siamese-based trackers have achieved excellent performance in object ***,the high speed and deformation of objects in the movement process make tracking ***,we have incorporated cascaded region-proposal-network(RPN)fusion and coordinate attention into Siamese *** proposed network framework consists of three parts:a feature-extraction sub-network,coordinate attention block,and cascaded RPN *** exploit the coordinate attention block,which can embed location information into channel attention,to establish long-term spatial location dependence while maintaining channel ***,the features of different layers are enhanced by the coordinate attention *** then send these features separately into the cascaded RPN for classification and *** to the two classification and regression results,the final position of the target is *** verify the effectiveness of the proposed method,we conducted comprehensive experiments on the OTB100,VOT2016,UAV123,and GOT-10k *** with other state-of-the-art trackers,the proposed tracker achieved good performance and can run at real-time speed.

关键词： Object tracking deep learning coordinate attention cascaded RPN

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Improving Classroom Quality by Analyzing Student Behaviors Through Computer Vision 4

Improving Classroom Quality by Analyzing Student Behaviors T...

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4th International Conference on Information Science and Education, ICISE-IE 2023

作者： Chen, Xiaopan Li, Boyuan Zhu, Xiaoke Zhang, Tao School of Computer and Information Engineering Henan University Kaifeng China Henan Engineering Research Center of Intelligent Technology Henan University Kaifeng China Henan University Henan Key Laboratory of Big Data Analysis and Processing Kaifeng China

ISBN: (纸本)9798350394610

This paper aims to enhance the efficiency of teaching and learning by leveraging computer vision technology for automated analysis of student behavior in the classroom. We propose a feature-enhanced method for recognizing student behavior, which integrates an Upsampling module (UPS) and a convolutional block layer (CBL) module into the YOLOv5 model. This innovative approach significantly improves the detection and feature extraction capabilities for student targets, effectively addressing challenges associated with small-sized targets and lowresolution images. Through algorithm optimization, it achieves a balance in sample diversity, enhancing the model's adaptability and generalizability in complex classroom environments. Building upon these technological advancements, we have developed a Classroom Student Posture Perception System (CSP2S). This system integrates functions for data collection, student behavior detection, and result visualization. The CSP2S operates in realtime by capturing and analyzing students' behavioral dynamics while providing teachers with immediate feedback. Experimental results demonstrate that this system substantially reduces teachers' workload in student assessment, offering significant potential to improve teaching effectiveness. These robust technical advancements provide strong support for future applications in real educational environments. © 2023 IEEE.

关键词： Students

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Effective and Imperceptible Adversarial Textual Attack Via Multi-objectivization

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ACM Transactions on Evolutionary Learning and Optimization 2024年第3期4卷 1-23页

作者： Liu, Shengcai Lu, Ning Hong, Wenjing Qian, Chao Tang, Ke Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen College of Engineering South Tower 1088 Xueyuan Avenue Guangdong Shenzhen518055 China Department of Computer Science and Engineering Hong Kong University of Science and Technology Hong Kong999077 Hong Kong National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen 10F Zhizhen Building Canghai Campus 3688 Nanhai Avenue Guangdong Shenzhen China National Key Laboratory for Novel Software Technology School of Artificial Intelligence Nanjing University Nanjing International College Area Xianlin Campus 163 Xianlin Avenue Jiangsu Nanjing China

The field of adversarial textual attack has significantly grown over the past few years, where the commonly considered objective is to craft adversarial examples (AEs) that can successfully fool the target model. However, the imperceptibility of attacks, which is also essential for practical attackers, is often left out by previous studies. In consequence, the crafted AEs tend to have obvious structural and semantic differences from the original human-written text, making them easily perceptible. In this work, we advocate leveraging multi-objectivization to address such an issue. Specifically, we reformulate the problem of crafting AEs as a multi-objective optimization problem, where the attack imperceptibility is considered as an auxiliary objective. Then, we propose a simple yet effective evolutionary algorithm, dubbed HydraText, to solve this problem. HydraText can be effectively applied to both score-based and decision-based attack settings. Exhaustive experiments involving 44,237 instances demonstrate that HydraText consistently achieves competitive attack success rates and better attack imperceptibility than the recently proposed attack approaches. A human evaluation study also shows that the AEs crafted by HydraText are more indistinguishable from human-written text. Finally, these AEs exhibit good transferability and can bring notable robustness improvement to the target model by adversarial training. © 2024 Copyright held by the owner/author(s).

关键词： Multiobjective optimization

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AuRoRA: A One-for-all Platform for Augmented Reasoning and Refining with Task-Adaptive Chain-of-Thought Prompting 30

AuRoRA: A One-for-all Platform for Augmented Reasoning and R...

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Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Zou, Anni Zhang, Zhuosheng Zhao, Hai Li, Xiaoshan Bian, Minjie Department of Computer Science and Engineering Shanghai Jiao Tong University China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University China Shanghai Technology Innovation Department Shanghai Data Group Co. Ltd. China Shanghai Data Group Co. Ltd. China

ISBN: (纸本)9782493814104

Large language models (LLMs) empowered by chain-of-thought (CoT) prompting have yielded remarkable prowess in reasoning tasks. Nevertheless, current methods predominantly lean on handcrafted or task-specific demonstrations, lack reliable knowledge basis and thus struggle for trustworthy responses in an automated pattern. While recent works endeavor to improve upon one certain aspect, they ignore the importance and necessity of establishing an integrated and interpretable reasoning system. To address these drawbacks and provide a universal solution, we propose AuRoRA: a one-for-all platform for augmented reasoning and refining based on CoT prompting that excels in adaptability, reliability, integrity, and interpretability. The system exhibits superior performances across six reasoning tasks and offers real-time visual analysis, which has pivotal academic and application value in the era of LLMs. The AuRoRA platform is available at https://***/spaces/Anni123/AuRoRA. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Refining

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arXiv

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arXiv 2025年

作者： Li, Yangning Kang, Hui Li, Jiahui Sun, Geng Sun, Zemin Wang, Jiacheng Zhao, Changyuan Niyato, Dusit College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China College of Computer Science and Technology Jilin University Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China College of Computing and Data Science Nanyang Technological University 639798 Singapore College of Computing and Data Science Nanyang Technological University Singapore

An expansion of Internet of Things (IoTs) has led to significant challenges in wireless data harvesting, dissemination, and energy management due to the massive volumes of data generated by IoT devices. These challenges are exacerbated by data redundancy arising from spatial and temporal correlations. To address these issues, this paper proposes a novel data-driven collaborative beamforming (CB)-based communication framework for IoT networks. Specifically, the framework integrates CB with an overlap-based multi-hop routing protocol (OMRP) to enhance data transmission efficiency while mitigating energy consumption and addressing hot spot issues in remotely deployed IoT networks. Based on the data aggregation to a specific node by OMRP, we formulate a node selection problem for the CB stage, with the objective of optimizing uplink transmission energy consumption. Given the complexity of the problem, we introduce a softmax-based proximal policy optimization with long-short-term memory (SoftPPO-LSTM) algorithm to intelligently select CB nodes for improving transmission efficiency. Simulation results show that the proposed OMRP improves network lifetime by 17% compared to benchmark routing protocols, while the SoftPPO-LSTM method for CB node selection achieves an 8.3% increase in throughput over benchmark algorithms. The results also reveal that the combined OMRP with the SoftPPO- Copyright © 2025, The Authors. All rights reserved.

关键词： Deep reinforcement learning

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Reversible data Hiding With Secret Encrypted Image Sharing and Adaptive Coding

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IEEE Internet of Things Journal 2025年第13期12卷 23933-23945页

作者： Fang, Guangtian Wang, Feng Zhao, Chenbin Qin, Chuan Chang, Ching-Chun Chang, Chin-Chen Fujian University of Technology College of Computer Science and Mathematics Fuzhou350118 China Fujian University of Technology College of Computer Science and Mathematics Key Laboratory of Big Data Mining and Applications Fuzhou350118 China Monash University Faculty of IT Department of Software Systems and Cybersecurity VIC3800 Australia Ministry of Education School of Cyber Science and Engineering Key Laboratory of Aerospace Information Security and Trusted Computing Wuhan430072 China University of Shanghai for Science and Technology School of Optical-Electrical and Computer Engineering Shanghai200093 China Feng Chia University Information and Communication Security Research Center Taichuang 40724 Taiwan Feng Chia University Department of Information Engineering and Computer Science Taichung40724 Taiwan

To ensure the security of image information and facilitate efficient management in the cloud, the utilization of reversible data hiding in encrypted images (RDHEI) has emerged as pivotal. However, most existing RDHEI schemes suffer from lower security and limited embedding capacity. To tackle these challenges, we propose a reversible data hiding with secret encrypted image sharing and adaptive coding scheme. Specifically, in the encryption phase, we introduce an improved secret sharing (SS) encryption method based on the chinese remainder theorem for polynomials (CRTP). This method not only improves the security of encrypted images but also vacates a larger room for embedding. In the embedding phase, we introduce an adaptive coding embedding approach using XOR preservation (XORP) and huffman coding, which provides high embedding capacity. Experimental results and security analysis demonstrate that our proposed encryption method achieves optimal values in security indicators for encrypted images, such as information entropy, histograms, NPCR and UACI. The proposed embedding method is superior to some state-of-the-art schemes in terms of embedding capacity. Furthermore, in datasets BOSSBase and BOWS2, the average embedding rates of the proposed embedding approach can reach 2.1745 bpp and 2.0656 bpp, respectively. © 2025 IEEE.

关键词： Cryptography Encryption Security data mining Adaptive coding Correlation Cloud computing Polynomials Image coding Streaming media

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Learning Self-Supervised Vision Transformers from Scratch for Aerial Person Re- Identification 13

Learning Self-Supervised Vision Transformers from Scratch fo...

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13th International Conference on Information Technology in Medicine and Education, ITME 2023

作者： Peng, Houfu Xu, Lili Lu, Xing Xia, Daoxun Guizhou Normal University Guizhou Key Laboratory of Information and Computing Science Guiyang China School of Big Data and Computer Science Guizhou Normal University Guiyang China Guizhou Normal University Engineering Laboratory for Applied Technology of Big Data in Education Guiyang China

ISBN: (纸本)9798350319156

In recent years, person re-identification (Re-ID) as a widely studied computer vision task, has reached a saturation state under closed-world setting, which encourages researchers to further explore more realistic scenarios. Among them, person Re- Idin aerial imagery is proposed and improved due to its unique practical importance in public security. However, since the aerial person images are taken by unmanned aerial vehicles (UAV s), influenced by camera height and angle of view, there are more serious problems such as weak appearance feature and occlusion than ground person images. Most of the current state-of-the-art person Re-ID methods on closed-world datasets are based on local convolution neural network, and hardly works well when applying them to aerial person Re- Idtasks directly. In this paper, we improve the emerging vision transformer (ViT) and apply it to the person Re- Idin aerial imagery. It should be noted that a large amount of data is required to be pretrained for ViTs to achieve competitive performance. Considering the limitations of data, computing power and flexibility in practical scenarios, we improve the pre-training process based on self-supervised learning, and achieve training ViTs from scratch with limited data. Specifically, in pre-training stage, the self-supervised paradigm based on parameter instance discrimination is applied to capture feature alignment and instance similarity, which alleviates the data-hungry of ViTs caused by the lack of inductive bias. Extensive comparative evaluation experiments are conducted on the aerial Re- Iddataset. Our method achieves a Rank-1 accuracy of 65.29% and a mean average precision (mAP) of 57.31%, which proves its effectiveness in aerial person Re-ID tasks. © 2023 IEEE.

关键词： Antennas

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Travel Characteristics and Combination Choice Behavior Modeling of Passengers under the Influence of Epidemic Prevention Policies 24

Travel Characteristics and Combination Choice Behavior Model...

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24th COTA International Conference of Transportation Professionals: Resilient, Intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Zhang, Yue Dong, Chunjiao Li, Penghui Dong, Qianru Key Laboratory of Transport Industry of Big Data Application Technologies for Comprehensive Transport School of Traffic and Transportation Beijing Jiaotong Univ. Beijing China State Key Laboratory of Intelligent Vehicle Safety Technology China Automotive Engineering Research Institute Co. Ltd. Chongqing China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

The intermodal travel characteristics and combination selection behaviors of passengers are key issues to providing reasonable, efficient, and safe solutions, ensuring the traffic order, and improving quality. With the Beijing Winter Olympics as a background, by combining the Stated Preference and Revealed Preference surveys, the research develops a decision-making behavior model based on nested logit to investigate the passenger travel choices. The impacts of individual attributes, epidemic prevention policies, and preferential measures on the choice of intermodal travel, as well as the combination of departure time and travel mode, are studied. The results show that cultural and creative products have a significant impact on the combined travel choices. The cultural and creative products and consumer vouchers have a significant impact on the choice of intermodal travel. The research results can provide insights into traffic organization and management policies during large-scale events. © ASCE.

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An efficient memory data organization strategy for application-characteristic graph processing

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Frontiers of Computer Science 2022年第1期16卷 191-193页

作者： Peng FANG Fang WANG Zhan SHI Dan FENG Qianxu YI Xianghao XU Yongxuan ZHANG Wuhan National Laboratory for Optoelectronics Key Laboratory of Information Storage SystemEngineering Research Center of data storage systems and TechnologyMinistry of Education of ChinaSchool of Computer Science and TechnologyHuazhong University of Science and TechnologyWuhan430074China

1 Introduction Graph processing has received significant attention for its ability to cope with large-scale and complex unstructured data in the ***,most of the graph processing applications exhibit an irregular memor... 详细信息

关键词： application processing pattern

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