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Position Measurement Based Slave Torque Feedback Control for Teleoperation systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Collosion detection research based on capsule bounding volume

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Journal of Computational Information systems 2014年第7期10卷 2743-2750页

作者： Kong, Dehan Liu, Yongshan Cui, Na Department of Information Science and Engineering Yanshan University Qinhuangdao 066004 China The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004 China The Data Industry Research Lab. Qinhuangdao 066004 China

A collision detection algorithm based on capsule bounding volume (CBV for short) is presented improve the efficiency of Collision detection in three-dimensional scene. This algorithm use CBV to encircle roles and achieve collision detection between the virtual characters and static objects and dynamic objects in the scene. It includes collision detection between CBV and AABB, triangular and capsule. Theoretical analysis and experimental results show that this algorithm can improve real time for collision detection. © 2014 Binary Information Press.

关键词： Information systems

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A new estimator analysis method to synchronization among multivariate neural series of mild cognitive impairment

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content technology and its Applications 2012年第23期6卷 868-874页

作者： Wen, Dong Guan, Xinyong Chen, Ruihong The Key Laboratory for Computer Virtual Technology System Integration of HeBei Province Yanshan University Qinhuangdao Hebei 066004 China Liren College Yanshan University Qinhuangdao Hebei 066004 China Division of General Internal Medicine Xiantao First People's Hospital Xiantao Hubei 433000 China

Synchronization decay of resting state EEG has shown that cognitive dysfunction in mild cognitive impairment (MCI) was relevant to a loss of functional connectivity in intermediate frequency bands. A new estimator analysis method called new S estimator (NSE) proposed recently by us quantifies synchronization between neuronal signals at multiple *** paper meant to explore the behavior of synchronization of multichannel EEG in MCI and healthy normal controls at rest, and preliminarily make clear the clinical significance of the NSE in MCI *** (EEG) were recorded from 10 MCI patients and 12 age-matched healthy normal controls (NC). NSE values were computed both across the all frequency band and separately in the delta, theta, alpha, beta (including beta1, beta2 and beta3), and gamma bands. The Montreal Cognitive Assessment (MoCA) was used to assess the symptom severity of MCI patients and *** values in the alpha and beta1 bands were significantly lower in MCI patients than in NC. NSE values in the alpha and beta1 bands were positively correlated with the MoCA scores in all participants (MCI and NC). In MCI patients, NSE values in the alpha and beta1 bands were also positively correlated with MoCA *** results suggest that NSE values are a useful correlate of EEG synchronization in MCI patients.

关键词： Synchronization

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An algorithm based on bit vector decomposition and hash linklist for mining frequent patterns in data streams

International Journal of Digital Content Technology and its ...

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International Journal of Digital Content technology and its Applications 2012年第22期6卷 570-579页

作者： Ren, Jiadong Zhang, Yuanyuan Yu, Shiying College of Information Science and Engineering Yanshan University Qinhuangdao Hebei 066004 China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao City 066004 China Hebei Provincial S and T Management Information Center 159 Dongfeng Road Shijiazhuang 050021 China

Most of algorithms based on bit vector for mining frequent pattern always produce candidate itemsets and scan the same data repeatedly;this increases the running time and the space consumption. In this paper, an algorithm BVDAHL based on bit vector decomposition and hash linklist for mining frequent patterns on data streams which solves the above issues, is proposed. The itemsets (transactions) whose corresponding number of 1 is k, denoted as k-one itemsets (k-one transactions). The arrival transactions are converted into bit vectors, and permutations and combinations are used to decompose converted results, then the decomposed itemsets are stored in the hash linklist. In hash function, according to the position of 1 of bit vector to compute the address, if the transaction has same address and same content that already exists in data domain, then the value adds one in count domain, otherwise the pointer in pointer domain points to the next node directly, it is no need to deal with conflict. Afterwards the property of anti-monotonic will be used to prune the k+1-one transactions in bit vector table if there exists infrequent k-one itemsets that decomposed by such k+1-one transactions. Then the algorithm repeats the above processes until the transaction in bit vector table can not be decomposed. Finally we will receive the frequent itemsets by comparing the obtained value of count domain in hash linklist with minSup. Experiment results show that BVDAHL is very efficiency and scalable.

关键词： Hash functions

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Mining Important Functions in Software Network by Node Vulnerability 2

Mining Important Functions in Software Network by Node Vulne...

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2019 2nd International Conference on computer Information Science and Artificial Intelligence, CISAI 2019

作者： Zhang, Bing Sun, Shengting Hao, Xiaobing School of Information Science and Engineering Yanshan University Hebei Qinhuangdao China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao City066004 China

Given that analysis on the vulnerability of functions is helpful to the detection and improvement of software security, this paper aims to propose an efficient methods to identify the vulnerable nodes (ITVN) in different software by the interdependence of functions. First, the dynamic software execution process was constructed as Software Execution Dependency Network (SEDN) based on Complex network theory. Second, by analyzing the dependency relationship among functions, the algorithm calVulAndScoOfNodes (CVSN) was designed to compute the vulnerability and the affected scope of each node for further analysis. Third, in order to measure the functions vulnerability in the whole software network, the algorithm calVulDegreeOfNodes (CVDN) was put forward to calculate the vulnerable degree of each node. Finally, the Vulnerable Nodes in different software were obtained by ITVN. Experimental results show that the vulnerable nodes selected as important nodes are well-reasoned in software network by testing different software, and the measures are effective for evaluating nodes vulnerability. © Published under licence by IOP Publishing Ltd.

关键词： Software testing

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Capacity planning of the registration server in cloud storage

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International Journal of High Performance systems Architecture 2017年第2期7卷 105-112页

作者： Gu, Rui Jin, Shunfu Wu, Haixing School of Information Science and Engineering Yanshan University No. 438 Hebei Avenue Qinhuangdao066004 China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province No. 438 Hebei Avenue Qinhuangdao066004 China Science and Technology on Communication Networks Laboratory No. 589 West Zhongshan Road Shijiazhuang050081 China

Cloud storage is one of the key services in cloud computing. In order to appeal more users to the cloud storage, free cloud experience is provided to potential users. A registration server is set specially for intentional users who are satisfied with the free experience and want to register as very important persons (VIPs). In order to mathematically evaluate the system performance and optimally plan the registration server, we establish a queueing network-based system model. We analyse the steady-state distribution of the system model and derive the performance measures of the system in terms of the average response time of potential users and the utilisation of registration server. For balancing different performance measures, we establish a cost function and develop an optimisation algorithm to plan the capacity of the registration server with a reasonable service rate. © Copyright 2017 Inderscience Enterprises Ltd.

关键词： Queueing networks

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Adaptive multilevel meshes for cloth simulation

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Journal of Information and Computational Science 2014年第11期11卷 3865-3872页

作者： Zhao, Jing Pei, Shanshan Lv, Mengya Li, Ying Tang, Yong Yang, Meiling Zhang, Mingmin Pan, Zhigeng The College of Information Science and Engineering Yanshan University Qinhuangdao China The Key Laboratory for Computer Virtual Technology and System Integration of HeBei Province Qinhuangdao China The College of Computer Science and Technology Zhejiang University Hangzhou China Institute of Service Engineering Hangzhou Normal University Hangzhou China

A novel method based on multilevel meshes is proposed to simulate the cloth draping process rapidly on a complex model. Considering of the difficulty of computing the realtime collision between cloth and complex models by normally methods, the draping process of cloth is divided into several phases and at each phase the mesh size is smaller than its previous one. The optimized 1-to-4 split is used to drive the rapid changes in the grid hierarchy and to simplify the calculations. We choose the widely used ellipsoid as the bounding cell to enclose the complex models in the environment. The ellipsoid avoids the complex structure of hierarchical bounding box and eliminates the impossible collision model area rapidly. Experiments demonstrate that this method can accelerate the draping process of cloth and decrease the number of iterations and the calculation of collision detection. Further mesh refinement improves the reality of cloth when it reaches the final position and ensures the realism of the simulation in real time. ©2014 Binary Information Press

关键词： Mesh generation

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Model for Software Behaviour Detection Based on Process Algebra and system Call

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China Communications 2013年第11期10卷 24-36页

作者：申利民王涛马川 College of Information Science and Engineering Yanshan University The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Hebei Normal University of Science and Technology

Behaviour detection models based on automata have been studied widely. By add- ing edge ε, the local automata are combined into global automata to describe and detect soft- ware behaviour. However, these methods in- troduce nondeterminacy, leading to models that are imprecise or inefficient. We present a model of software Behaviour Detection based on Process Algebra and system call （BDPA）. In this model, a system call is mapped into an action, and a function is mapped into a process We construct a process expression for each function to describe its behaviour. Without con- strutting automata or introducing nondeter- minacy, we use algebraic properties and algo- rithms to obtain a global process expression by combining the process expressions derived from each function. Behaviour detection rules and methods based on BDPA are determined by equivalence theory. Experiments demon- strate that the BDPA model has better preci- sion and efficiency than traditional methods.

关键词： intrusion detection software be-haviour model static analysis process algebra system call

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The study of a hierarchical hadoop architecture in multiple data centers environment

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Open Cybernetics and systemics Journal 2015年第1期9卷 131-137页

作者： Shengtao, Sun Aizhi, Wu Xiaoyang, Liu School of Information Science and Engineering Yanshan University QinhuangdaoHebei066004 China College of Vehicles and Energy Yanshan University QinhuangdaoHebei066004 China Data Industry Research Institute Limited Company QinhuangdaoHebei066004 China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province QinhuangdaoHebei066004 China

Hadoop is a reasonable tool for cloud computing in big data era and MapReduce paradigm may be a highly successful programming model for large-scale data-intensive computing application, but the conventional MapReduce model and Hadoop framework limit themselves to implement jobs within single cluster. Traditional single-cluster Hadoop may not suitable for situations when data and compute resources are widely distributed this paper focuses on the application of Hadoop across multiple data centers and clusters. A hierarchical distributed computing architecture of Hadoop is designed and the virtual Hadoop file system is proposed to provide global data view across multiple data centers. The job submitted by user can be decomposed automatically into several sub-jobs which are then allocated and executed on corresponding clusters by location-aware manner. The prototype based on this architecture shows encouraging results. © Shengtao et al.

关键词： MapReduce

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A load balancing algorithm for multi-root ONS

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Journal of Computational Information systems 2014年第7期10卷 2735-2742页

作者： Hao, Fengzhai Liu, Yongshan Chen, Wei College of Information Science and Engineering Yanshan University Qinhuangdao 066004 China The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Yanshan University Qinhuangdao 066004 China Data Industry Research Lab. Qinhuangdao 066004 China

In order to solve the overload problem of root ONS in the EPC network, a load balancing algorithm based on multi-root ONS is proposed. Based on the proposed load balancing ONS (LB ONS) architecture, the ONS Root is defined to have two states, idle or busy. According to CPU utilization and memory utilization of the ONS Root and in combination with threshold controlling to periodically update the ONS Root states, which makes the requests coming from client applications be transferred to an ONS Root which is idle. Experiment results show that the algorithm can reduce query hops and query delays effectively and offer lookup service efficiently. © 2014 Binary Information Press.

关键词： Internet of things

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