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H_∞ consensus control of a class of second-order multi-agent systems without relative velocity measurement

Chinese Physics B 2010年第7期19卷 188-192页

作者：张文广曾德良郭振凯 Beijing Key Laboratory of Measurement and Control New Technology and System for Industrial Process Control & Computer Engineering SchoolNorth China Electric Power University School of Mathematics and Information Ludong University

This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.

关键词： consensus control H∞ second-order multi-agent systems

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Dexterous Manipulation through Imitation Learning: A Survey

arXiv

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arXiv 2025年

作者： An, Shan Meng, Ziyu Tang, Chao Zhou, Yuning Liu, Tengyu Ding, Fangqiang Zhang, Shufang Mu, Yao Song, Ran Zhang, Wei Hou, Zeng-Guang Zhang, Hong School of Electrical and Information Engineering Tianjin University Tianjin300072 China School of Control Science and Engineering Shandong University Jinan250061 China State Key Laboratory of General Artificial Intelligence Beijing100086 China Department of Mechanical and Process Engineering ETH Zurich Zurich8092 Switzerland Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China School of Informatics University of Edinburgh EH8 9AB United Kingdom Department of Computer Science University of Hong Kong 999077 Hong Kong State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology 999078 China

Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation, enables complex interactions similar to human hand dexterity. With recent advances in robotics and machine learning, there is a growing demand for these systems to operate in complex and unstructured environments. Traditional model-based approaches struggle to generalize across tasks and object variations due to the high-dimensionality and complex contact dynamics of dexterous manipulation. Although model-free methods such as reinforcement learning (RL) show promise, they require extensive training, large-scale interaction data, and carefully designed rewards for stability and effectiveness. Imitation learning (IL) offers an alternative by allowing robots to acquire dexterous manipulation skills directly from expert demonstrations, capturing fine-grained coordination and contact dynamics while bypassing the need for explicit modeling and large-scale trial-and-error. This survey provides an overview of dexterous manipulation methods based on imitation learning (IL), details recent advances, and addresses key challenges in the field. Additionally, it explores potential research directions to enhance IL-driven dexterous manipulation. Our goal is to offer researchers and practitioners a comprehensive introduction to this rapidly evolving domain. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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MIMO Scheduling Effectiveness Analysis for Bursty Data Service from View of QoE

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Chinese Journal of Electronics 2017年第5期26卷 1079-1085页

作者： CHEN Lei JIANG Dingde BAO Rong XIONG Jiping LIU Fuqiang BEI Lulu Jiangsu Province Key Laboratory of Intelligent Industry Control Technology Xuzhou University of Technology School of Computer Science and Engineering Northeastern University College of Mathematics Physics and Information EngineeringZhejiang Normal University College of Electronics and Information Engineering Tongji University

In the user selection phrase of the conventional Multiple-input-multiple-output(MIMO) scheduling schemes,the frequent user exchange deteriorates the Quality of user experience(Qo E) of the bursty data *** the channel vector orthogonalization computation results in a high time *** address these problems,we propose an inertial scheduling policy to reduce the number of noneffective user exchange,and substitute self-organization policy for channel vector orthogonalization computation to reduce computational *** relationship between the scheduling effectiveness and the inertia of objective function is observed in the *** simulation results show that the inertial scheduling policy effectively reduce the number of potential noneffective scheduling which is inversely proportional to the Mean opinion score(MOS)that quantifies the Qo *** proposed scheduling scheme provides significant improvement in Qo E performance in the *** the proposed scheduling scheme does not consider the channel vector orthogonalization in the user selection phrase,its throughput approaches the level of the throughput-oriented scheme because of its selforganization scheduling policy.

关键词： Bursty data service Multiple-inputmultiple-output(MIMO) Quality of user experience(QoE) Time perception

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IMEWAS - A integrated multi-platform EAPoW-based WLAN AAA solution

IMEWAS - A integrated multi-platform EAPoW-based WLAN AAA so...

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Third International Conference on Wireless and Mobile Communications 2007, ICWMC '07

作者： Chen, Ling Lu, Jian-De Jiangsu Key Laboratory Computer Information Processing Technology Soochow University Jiangsu Suzhou 215006 China

ISBN: (纸本)0769527965

As security is becoming a significant obstacle to wider deployment of wireless LANs, IEEE 802.1x and EAPoW has been put forward to enhance authentication in WLAN. At present, some existing client solution such as Xsupplicant or WIRE1x has only applies to one platform, Linux or Windows, and is illconsidered of EAPoW. This paper discusses an Integrated Multi-platform EAPOW-based WLAN AAA Solution - IMEWAS, its architecture and module design and implementation. The integrated flexible and secure solution has been proved feasible. © 2007 IEEE.

关键词： Wireless local area networks (WLAN)

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Pyramid: Building incentive architecture for unstructured peer-to-peer network

Pyramid: Building incentive architecture for unstructured pe...

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Advanced International Conference on Telecommunications andInternational Conference on Internet and Web Applications and Services, AICT/ICIW'06

作者： Zhao, Jia Lu, Jian-De Jiangsu Key Laboratory of Computer Information Processing Technology Soochow University Jiangsu Suzhou 215006 China

ISBN: (纸本)0769525229

As non-cooperation behaviors such as free-riding do not seems to have been checked according to a recent survey of Gnutella network [3], it hereby calls for more attention to this issue and more efforts in our future research to protect P2P networks. This paper presents a new incentive architecture-"Pyramid", whose idea first came out as a sales mode named "Pyramid Selling". By introducing this concept into P2P research, we believe the "magic" of encouraging sales in reality could also benefit the P2P world on encouraging cooperation. In particular, the paper describes in details the three layers of Pyramid's hierarchical structure: fundamental infrastructure managing the peer organization and basic utilities, trade-based credit system supporting trust management and service charge and pyramid incentive mechanism encouraging cooperation of rational users. Model evaluation and discussion of the proposed pyramid incentive mechanism demonstrate its effectiveness in encouraging cooperation and discouraging non-cooperation respectively. © 2006 IEEE.

关键词： computer architecture

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Real-time manifold regularized context-aware correlation tracking

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Frontiers of computer Science 2020年第2期14卷 334-348页

作者： Jiaqing FAN Huihui SONG Kaihua ZHANG Qingshan LIU Fei YAN Wei LIAN Jiangsu Key Laboratory of Big Data Analysis Technology(B-DAT) Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology(CICAEET)Nanjing University of Information Science&TechnologyNanjing 211800China Department of Computer Science Changzhi UniversityChangzhi 046011China

Despite the demonstrated success of numerous correlation filter(CF)based tracking approaches,their assumption of circulant structure of samples introduces significant redundancy to learn an effective *** this paper,we develop a fast manifold regularized context-aware correlation tracking algorithm that mines the local manifold structure information of different types of ***,different from the traditional CF based tracking that only uses one base sample,we employ a set of contextual samples near to the base sample,and impose a manifold structure assumption on ***,to take into account the manifold structure among these samples,we introduce a linear graph Laplacian regularized term into the objective of CF ***,the optimization can be efficiently solved in a closed form with fast Fourier transforms(FFTs),which contributes to a highly efficient *** evaluations on the OTB100 and VOT2016 datasets demonstrate that the proposed tracker performs favorably against several state-of-the-art algorithms in terms of accuracy and ***,our tracker is able to run in real-time with 28 fps on a single CPU.

关键词： visual tracking manifold regularization correlation filter graph Laplacian

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Study of dynamic timeout strategy based on flow rate metrics in high-speed networks 06

Study of dynamic timeout strategy based on flow rate metrics...

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1st International Conference on Scalable information Systems, InfoScale '06

作者： Zhou, Ming-Zhong Gong, Jian Ding, Wei Southeast Univ. and Jiangsu Province Key Laboratory of Computer Networking Technology and Jiangsu Province Key Laboratory of Network and Information Security Nanjing Jiangsu China

ISBN: (纸本)1595934286

The measurements based on flow characteristics are playing more and more important roles in the analysis of Network Behavior. As one of main methods for flow recognition, the timeout strategies have a significant impact on the correctness and performance of flow measurements. This paper discusses the state-of-art of flow timeout strategies, and explains where they are applicable and their shortcomings. To deal with short flows that take a large part of the total flows in the networks, the paper proposes the Dynamic Timeout Strategy (DToS) by analyzing flows distribution and flow rate metrics in details. The studies show that this method can improve the performances of network measurement and the efficiency of the resource usage by using different timeout strategics to deal with flows that have different rate features based on integrated usage analyses of target network.s It can also apperceive network abnormal behavior efficiently, and then take emergent measures to ensure the safety of measurement system. Some experiments have been carried out to show the rationality of DToS strategy. The applicable area of this strategy is also analyzed at the end of this paper. © 2006 ACM.

关键词： Data flow analysis

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Fast-Slow-Thinking: Complex Task Solving with Large Language Models

arXiv

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arXiv 2025年

作者： Sun, Yiliu Zhang, Yanfang Zhao, Zicheng Wan, Sheng Tao, Dacheng Gong, Chen School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education China Jiangsu Key Laboratory of Image and Video Understanding for Social Security China The University of Sydney Australia

Nowadays, Large Language Models (LLMs) have been gradually employed to solve complex tasks. To face the challenge, task decomposition has become an effective way, which proposes to divide a complex task into multiple simpler subtasks and then solve them separately so that the difficulty of the original task can be reduced. However, the performance of existing task decomposition methods can be suboptimal when the task contains overly complex logic and constraints. In this situation, the solution generated by LLMs may deviate from the original purpose of the task, or contain redundant or even erroneous content. Therefore, inspired by the fact that humans possess two thinking systems including fast thinking and slow thinking, this paper introduces a new task decomposition method termed "Fast-Slow-Thinking" (FST), which stimulates LLMs to solve tasks through the cooperation of Fast Thinking (FT) and Slow Thinking (ST) steps. Here FT focuses more on the general and concise aspect of the task, and ST focuses more on the details of the task. In FT, LLMs are prompted to remove the constraints of the original task, therefore simplifying it to a general and concise one. In ST, we recall the constraints removed in FT, so that LLMs can improve the answer generated in FT to meet the requirements of the original task. Therefore, our FST method enables LLMs to consider a complex problem via a human-like cognition process from coarse to fine, the effectiveness of which has been well demonstrated by the experiments on three types of tasks. Copyright © 2025, The Authors. All rights reserved.

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Coverage Enhancement Strategy Based on Novel Perception and Co-evolution for Multimedia Sensor Networks

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电子学报(英文版) 2013年第1期22卷 135-140页

作者： XIAO Fu WANG Jing SUN Lijuan WANG Ruchuan GUO Jian College of Computer Nanjing University of Posts and Telecommunications Nanjing 210003 China Jiangsu High Technology Research Key Laboratory for Wireless Sensor Networks Nanjing 210003 China Key Laboratory of Broadband Wireless Communication and Sensor Network Technology Ministry of Education Nanjing 210003 China Provincial Key Laboratory for Computer Information Processing Technology Soochow University Suzhou 215006 China

Coverage enhancement is one of the hot research topics in wireless multimedia sensor net- works. A novel Coverage-enhancing algorithm based on three-dimensional Directional perception and co-evolution (DPCCA) is proposed in multimedia sensor networks on the basis of the model whose pitch angle and deviation angle can be adjusted. Based on the proposed elliptical cone sensing model, we can derive the coverage area of the node and calculate the optimal pitch angle according the information of monitoring area and the nodes, and then the deviation angle is optimized based on co-evolution al- gorithm, which eliminate the overlapped and blind sensing area effectively. A set of simulations demonstrate the ef- fectiveness of our algorithm in coverage ratio.

关键词：无线多媒体传感器网络网络覆盖协同进化感知增强算法网络工程测量模型

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Ontology-based metadata matching for emergency decision-making using MapReduce

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International Journal of Metadata, Semantics and Ontologies 2015年第2期10卷 75-83页

作者： Zhu, Li Hu, Wei School of Economics and Management Nanjing University of Information Science and Technology Nanjing Jiangsu210044 China State Key Laboratory for Novel Software Technology Department of Computer Science and Technology Nanjing University Nanjing Jiangsu210023 China

Ontology matching techniques can help improve the accuracy of emergency decisionmaking on heterogeneous data. In this paper, we propose a practical approach to leverage ontology and MapReduce for matching metadata of emergency supplies. We use this approach in the domain of emergency food. Specifically, by extending the AGROVOC ontology developed by the Food and Agriculture Organisation (FAO) of United Nations, ontological descriptions of food metadata are established. Then, based on the classification of emergency functionality, the instances of food metadata within the same category are matched in a two-stage TF-IDF fashion, which is further improved with the MapReduce framework for efficient parallel computation. Our experiments on grain, meat and milk metadata retrieved from several e-commerce websites demonstrate the good performance of the proposed approach. Additionally, case study is provided to illustrate the potential use of our approach. © 2015 Inderscience Enterprises Ltd.

关键词： MapReduce

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