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Adaptive walking control of quadruped robots based on central pattern generator (CPG) and reflex

控制理论与应用（英文版） 2013年第3期11卷 386-392页

作者： Chengju LIU Qijun CHEN Guoxing WANG Department of Electronics and Information Engineering and Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University

This paper presents a central pattern generator （CPG） and vestibular reflex combined control strategy for a quadruped robot. An oscillator network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. A two-phase parameter tuning method is designed to adjust the parameters of oscillator network. First, based on the numerical simulation, the influences of the parameters on the output signals are analyzed, then the genetic algorithm （GA） is used to evolve the phase relationships of the oscillators to realize the basic animal-like walking pattern. Moreover, the animal＇s vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on a slope terrain. Coupled with the sensory feedback information, the robot can walk up and down the slope smoothly. The presented bio-inspired control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG and vestibular reflex combined control method, AIBO can cope with slipping, falling down and walk on a slope successfully, which demonstrates the effectiveness of the proposed walking control method.

关键词： CPG Walking control Quadruped robot Vestibular reflex

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An Initialization Method based on The Core Clusters for Locality-weight Fuzzy C-Means Clustering 4th

An Initialization Method based on The Core Clusters for Loca...

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2013 IEEE 4th International Conference on Software Engineering and service Science

作者： Lei Gu The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University School of Computer Science and Technology Nanjing University of Posts and Telecommunication

ISBN: (纸本)9781467349970

The Locality-weight fuzzy c-means clustering method has been presented *** this approach can improve the clustering accuracies,it often gains the unstable clustering results because some random samples are employed for the initial *** this paper,an initialization method based on the core clusters is used for the locality-weight fuzzy c-means *** core clusters can be formed by constructing the σ-neighborhood graph and their centers are regarded as the initial centers of the locality-weight fuzzy c-means *** investigate the effectiveness of our approach,several experiments are done on three *** results show that our proposed method can improve the clustering performance compared to the previous locality-weight fuzzy c-means clustering.

关键词： the initialization clustering methods core clusters locality-weight fuzzy c-means neighborhood graph

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Method on the fault detection and diagnosis for the railway turnout based on the current curve of switch machine

Method on the fault detection and diagnosis for the railway ...

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2nd International Conference on Mechanical Engineering, Industrial Electronics and Informatization, MEIEI 2013

作者： Mo, Xue Mei Fang, Yu Yang, Yun Guo The Key Laboratory of Embedded System and Service Computing Ministry of Education China Shanghai Railway Telecommunication Equipment Ltd Co. Shanghai China

ISBN: (纸本)9783037858905

This paper proposes a method of the fault detection and diagnosis for the railway turnout based on the current curve of switch machine. Exact curve matching fault detection method and SVM-based fault diagnosis method are adopted in the paper. Based on envelope and morpheme match algorithm, exact curve matching method is used to match the detected current curve with the reference curve so as to predict whether the curve would have fault or not. Moreover, the SVM-based fault diagnosis method is used to make sure that the fault conditions could be diagnosed intelligently. Finally, the experimental results show that the proposed method can accurately identify the turnout fault status in the conversion process, and the accuracy rate in the diagnosis of the fault location is above 98%, which verify the effectiveness of the method in the fault detection and diagnosis. © (2013) Trans Tech Publications, Switzerland.

关键词： Fault detection

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Covariance free incremental principal component analysis with exact mean update

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Journal of Computational Information systems 2013年第16期9卷 6703-6710页

作者： Zeng, Xueqiang Li, Guozheng The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 200092 China Computer Center Nanchang University Nanchang 330029 China Department of Control Science and Engineering Tongji University Shanghai 201804 China

Incremental feature extraction is an essential data preprocessing technique for large-scale and streaming data mining. Among various covariance matrix-free Incremental Principal Component Analysis (IPCA) methods, Candid Covariance-free Incremental Principal Component Analysis (CCIPCA) is a state-of-the art algorithm. Since the training samples are required to be centred, CCIPCA applies an approximate centric alignment on the input data, where only the current sample is correctly centred and all historical data are not updated properly. In this paper, we propose a novel centred incremental principal component analysis algorithm with exact historical mean update, where not only the current sample is centred, but also all historical data are updated by the current mean correctly. Compared to CCIPCA, the proposed method converges more quickly, and the performance improvement is especially obvious when the data's inherent covariance is not stable. The experiments on real streaming dataset show that the proposed method is much superior to CCIPCA in convergence speed. © 2013 Binary Information Press.

关键词： Principal component analysis

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Two-dimensional color uncorrelated principal component analysis for feature extraction with application to face recognition

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2012 International Conference on service-Oriented computing, ICSOC 2012

作者： Zhao, Cairong Miao, Duoqian Department of Computer Science and Technology Tongji University Shanghai 201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai 7201804 China Ministry of Education Nanjing 210094 China

ISBN: (纸本)9783319029603

This paper proposes a two-dimensional color uncorrelated principal component analysis algorithm(2DCUPCA) for unsupervised subspace learning directly from color face images. The 2DCUPCA can be used to explore uncorrelated properties among color-based features, which contain minimum redundancy and ensure linear independence among features. Furthermore, the proposed 2DCUPCA provided the theoretical foundations analysis and proved the uncorrelated property between color-based features in theory. This makes it sure that the extracted features directly from three color image matrices will be uncorrelated. Finally, experimental results on the AR and FRGC-2 color face databases show that 2DCUPCA achieves better recognition performance than other color face recognition methods. © Springer International Publishing 2013.

关键词： Principal component analysis

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An enhanced two-factor user authentication in wireless sensor networks

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Telecommunication systems 2013年第1期55卷 105-113页

作者： Yuan, Jian-Jun Key Laboratory of Embedded System and Service Computing of Ministry of Education Tongji University Shanghai China

Since wireless sensor networks (WSN) are often deployed in an unattended environment and sensor nodes are equipped with limited computing power modules, user authentication is a critical issue when a user wants to access data from sensor nodes. Recently, M.L. Das proposed a two-factor user authentication scheme in WSN and claimed that his scheme is secure against different kinds of attack. Later, Khan and Alghathbar (K-A) pointed out that Das’ scheme has some security pitfalls and showed several improvements to overcome these weaknesses. However, we demonstrate that in the K-A-scheme, there is no provision of non-repudiation, it is susceptible to the attack due to a lost smart card, and mutual authentication between the user and the GW-node does not attained. Moreover, the GW-node cannot prove that the first message comes from the user. To overcome these security weaknesses of the K-A-scheme, we propose security patches and prove our scheme.

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Real-Time Communication Method for mHealth Base on Extended XMPP Protocol

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Communications and Network 2013年第3期5卷 590-595页

作者： Chenjie Shi Yu Fang The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

Considering characteristic of mHealth communication and problems of existing methods, this paper presents a real-time communication method for mHealth based on extended XMPP protocol. The method can maintain the role status efficiently and reduce data latency during the communication process. Meanwhile, it can be extended flexibly to meet increasing communication demands of mHealth services. Furthermore, a system framework is presented to support telemonitoring scene. Finally, system implementation and feasibility tests verify the effectiveness of the method and framework.

关键词： mHealth XMPP Protocol Real-Time Communication

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Exploiting robustness in Petri net-based closed-loop systems to accommodate control specification changes

Exploiting robustness in Petri net-based closed-loop systems...

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2013 IEEE International Conference on Automation Science and Engineering, CASE 2013

作者： Li, Jun Zhou, Mengchu Dai, Xianzhong Key Laboratory of Measurement and Control of Complex Systems of Engineering China Ministry of Education Automation School of Southeast University Nanjing 210096 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China

ISBN: (纸本)9781479915156

Supervisory control reconfiguration has been paid more attention due to its capacity of handling the uncertainties including resource failures, capability degradation, and task changes in discrete event systems. However, the robustness of closed-loop systems in response to some specification changes was not addressed in the prior studies. This paper presents a reconfiguration method based on Petri nets and integer programming for supervisory control of resource allocation systems with changeable resource allocation relationships (control specifications). First, we propose a reconfiguration mechanism. It updates the P-invariant-based supervisor and evolves the state of the closed-loop system. The latter adapts to the certain changes in specifications by the self-regulation of the closed-loop system's state. It utilizes fully the robustness in a closed-loop system and avoids unnecessary modification of a supervisor. Then, a reconfiguration model with robustness analysis is proposed based on integer programming. By using it, a firing sequence of transitions as a serial of reconfiguration actions can be found. The execution of the sequence implements the state evolution of a closed-loop system. There is no need for making additional efforts to analyze state reachability of the system, since the firability condition of transitions is incorporated into the model. Finally, the method is illustrated through an example of a hospital emergency service system. © 2013 IEEE.

关键词： Closed loop systems

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Using more initial centers for the seeding-based semi-supervised K-harmonic means clustering

Using more initial centers for the seeding-based semi-superv...

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2012 International Conference on Emerging Technologies for Information systems, computing, and Management, ICM 2012

作者： Gu, Lei Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China School of Computer Science and Technology Nanjing University of Posts and Telecommunication Nanjing China

ISBN: (纸本)9781461470090

In the initialization of the traditional semi-supervised k-means, the mean of some labeled data belonging to one same class was regarded as one initial center and the number of the initial centers is equal to the number of clusters. However, this initialization method using a small amount of labeled data also called seeds which are not appropriate for the semi-supervised k-harmonic means clustering insensitive to the initial centers. In this paper, a novel semi-supervised k-harmonic means clustering is proposed. Some seeds with one same class are divided into several groups and the mean of all data is viewed as one initial center in every group. Therefore, the number of the initial centers is more than the number of clusters in the new method. To investigate the effectiveness of the approach, several experiments are done on three datasets. Experimental results show that the presented method can improve the clustering performance compared to other traditional semi-supervised clustering algorithms. © 2013 Springer Science+Business Media New York.

关键词： Harmonic analysis

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Berth-Crane allocation model and algorithm of container berths in the uncertain environment

Advances in Intelligent Systems and Computing

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Advances in Intelligent systems and computing 2013年 212卷 785-792页

作者： Liu, Jian-xin Du, Yu-yue Hong, Yong-fa Sun, Lin-lin College of Information Science Engineering Shandong University of Science and Technology Qingdao 266590 Shandong China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 200092 China College of Civil Engineering and Architecture SUST Qingdao 266590 Shandong China

ISBN: (纸本)9783642375019

According to the randomness of the vessel's arrival time and handling time, the establishment of a randomly-oriented environment container berths-crane allocation model, the optimizing goal is to minimize the average ship-waiting time. Taking into account the complexity of the model solution, this paper offers the design of an improved genetic algorithm to reduce the searching space, and according to the characteristics of the optimal solution. With testing example to verify that the model can simulate decision-making environment of berths-crane allocation problem and reflect the decision-maker's attitude toward risks and preferences. The algorithm can gain a stable and satisfactory solution within the operating time. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Genetic algorithms

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