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Survey of locomotion control of legged robots inspired by biological concept

Science in China(Series F) 2009年第10期52卷 1715-1729页

作者： WUQiDi LIU ChengJu ZHANG JiaQi CHEN QiJun School of Electronics and Information Engineering Tongji University Shanghai 201804 China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China

Compared with wheeled mobile robots, legged robots can easily step over obstacles and walk through rugged ground. They have more flexible bodies and therefore, can deal with complex environment. Nevertheless, some other issues make the locomotion control of legged robots a much complicated task, such as the redundant degree of freedoms and balance keeping. From literatures, locomotion control has been solved mainly based on programming mechanism. To use this method, walking trajectories for each leg and the gaits have to be designed, and the adaptability to an unknown environment cannot be guaranteed. From another aspect, studying and simulating animals＇ walking mechanism for engineering application is an efficient way to break the bottleneck of locomotion control for legged robots. This has attracted more and more attentions. Inspired by central pattern generator （CPG）, a control method has been proved to be a successful attempt within this scope. In this paper, we will review the biological mechanism, the existence evidences, and the network properties of CPG. From the en- gineering perspective, we will introduce the engineering simulation of CPG, the property analysis, and the research progress of CPG inspired control method in locomotion control of legged robots. Then, in our research, we will further discuss on existing problems, hot issues, and future research directions in this field.

关键词： biological inspired control central pattern generator (CPG) locomotion control

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A hybrid differential evolution algorithm for meta-task scheduling in grids

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High Technology Letters 2009年第3期15卷 261-266页

作者：康钦马 Jiang Changiun He Hong Huang Qiangsheng The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 P.R. China School of Infomlation Engineering Shandong University at Weihai Weihai 264209 P.R. China

Task scheduling is one of the core steps to effectively exploit the capabilities of heterogeneous re-sources in the *** paper presents a new hybrid differential evolution(HDE)algorithm for findingan optimal or near-optimal schedule within reasonable *** encoding scheme and the adaptation ofclassical differential evolution algorithm for dealing with discrete variables are discussed.A simple but ef-fective local search is incorporated into differential evolution to stress *** performance of theproposed HDE algorithm is showed by being compared with a genetic algorithm(GA)on a known staticbenchmark for the *** results indicate that the proposed algorithm has better perfor-mance than GA in terms of both solution quality and computational time,and thus it can be used to de-sign efficient dynamic schedulers in batch mode for real grid systems.

关键词： Hybrid differential evolution grid computing task scheduling genetic algorithm

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An efficient gene selection algorithm based on tolerance rough set theory 1

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12th International Conference on Rough Sets, Fuzzy Sets, Data Mining and Granular computing, RSFDGrC 2009

作者： Jiao, Na Miao, Duoqian Department of Computer Science and Technology Tongji University Shanghai 201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education of China Tongji University Shanghai 201804 China

ISBN: (数字)9783642106460

ISBN: (纸本)3642106455

Gene selection, a key procedure of the discriminant analysis of microarray data, is to select the most informative genes from the whole gene set. Rough set theory is a mathematical tool for further reducing redundancy. One limitation of rough set theory is the lack of effective methods for processing real-valued data. However, most of gene expression data sets are continuous. Discretization methods can result in information loss. This paper investigates an approach combining feature ranking together with feature selection based on tolerance rough set theory. Compared with gene selection algorithm based on rough set theory, the proposed method is more effective for selecting high discriminative genes in cancer classification task. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Rough set theory

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Study on stability of traffic flow for cooperative driving control

Study on stability of traffic flow for cooperative driving c...

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IEEE Symposium on Intelligent Vehicle

作者： Zhipeng Li Ping Wang Fuqiang Liu Key Laboratory of Embedded System and ServIce Computing supported by Ministry of Education University of Tongji Shanghai China

ISBN: (纸本)9781424435036

In the literature of traffic flow theory, the research on the effect on stability of traffic flow for cooperative driving control possesses an important significance. However, presently the the study on the problem is unsatisfactory because it is difficult to determine the impact qualitatively or quantitatively in real traffic experiment. In this paper, some efforts have been made for better understanding the effect on stability of traffic flow for cooperative driving control by investigating the stability for lattice traffic models, which are presented here by incorporating motion information of cars preceding. From linear stability analysis and direct simulations validation, we learn some properties of the effect on the stability and congestion waves by using the information of many other cars. First, cooperative driving behavior of many cars preceding can efficiently stabilize the traffic flow. Second, cooperative driving behavior of the cars nearby plays a prominent role in stability. Third, when the car number participating in cooperative driving policy exceeds a certain value, the congestion waves will disappear.

关键词： Traffic control Control systems Communication system traffic control Roads Laboratories embedded system embedded computing Stability analysis Transportation Mathematical model

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Coverage optimization in wireless mobile sensor networks

Coverage optimization in wireless mobile sensor networks

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5th International Conference on Wireless Communications, Networking and Mobile computing, WiCOM 2009

作者： Xingzhen, Bai Shu, Li Changjun, Jiang Zhengzhong, Gao Electronics and Information Engineering School Tongji University Shanghai 201804 China Key Laboratory for the Embedded System and Service Computing of Ministry of Education Tongji University Shanghai 201804 China College of Information and Electrical Engineering Shandong University of Science and Technology Qingdao 266510 China

ISBN: (纸本)9781424436934

The coverage of Wireless Sensor Networks (WSNs) is one of the most important measurement criteria of Qos. Optimal coverage of sensors is propitious to the maximum possible utilization of the available sensors. It can balance node energy consumption, and elongate network lifetime. In this paper, particle swarm optimization (PSO) approach is applied to maximize the coverage of mobile sensor networks. We first analyze the node distribution of random deployed sensor networks. There are big coverage holes as the network size grows. In order to reduce energy consumption during node move process, we study the sensor network coverage optimization in the limited mobility model. The simulation results show that sensor node move in the limited region can also realize the coverage optimization , and it can reduce the moving distance greatly. ©2009 IEEE.

关键词： Sensor nodes

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Research of Meridian Diagnosis system Based on SVM

Research of Meridian Diagnosis System Based on SVM

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The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Guo-Xia Zhang Fu-Qiang Liu Chun-Lin Song Pei-Yuan Lai BW&M Institute The Key Laboratory of Embedded System and Service ComputingMinistry of Education Tongji University ShanghaiChina

Aiming at the deficiency of the current meridian diagnosis algorithms, SVM is applied to meridian diagnosis system. The system structure is described firstly, then the model selection of SVM is discussed in detail by taking chronic pharyngitis as an example: one-against-one method is used to realize multi-class;the problem of non-symmetrical samples of C-SVM is solved by giving positive and negative samples of different weights;a margin-based bound on generalization method is used to search parameters of the model. Finally, test results show that the classifier, which is realized and tested using vc++6.0, possess a very high recognition rate and can be applied to meridian diagnosis system.

关键词： Meridians Diagnosis system SVM Nonsymmetrical Samples Generalization Bound

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Improved Extremal Optimization for Constrained Pairwise Testing

Improved Extremal Optimization for Constrained Pairwise Test...

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International Conference on Research Challenges in Computer Science (ICRCCS)

作者： Jianjun Yuan Changjun Jiang Zuowen Jiang Department of Computer Science and Technology The Key Laboratory of Embedded System and Service Computing Ministry of Education of China University of Tongji Shanghai China

Pairwise testing, which requires that every combination of valid values of each pair of system factors be covered by at lease one test case, plays an important role in software testing since many faults are caused by unexpected 2-way interactions among system factors. In real systems, constraints usually exist between values, which means that some values cannot coexist in a valid test. Although meta-heuristic strategies like simulated annealing can generally discover smaller pairwise test suite in the presence of constraints, they may cost more time to perform search, compared with greedy algorithms. We propose a new method, improved extremal optimization, for constructing constrained pairwise test suites. Experimental results show that improved extremal optimization gives similar size of resulting pairwise test suite and yields a 13% reduction in solution time over simulated annealing.

关键词： Constraint optimization Software testing system testing Simulated annealing Costs Greedy algorithms Computer science educational technology Laboratories embedded system

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Construct pairwise test suites based on the Bak-Sneppen model of biological evolution

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World Academy of Science, Engineering and Technology 2009年 35卷 224-229页

作者： Yuan, Jianjun Jiang, Changjun Department of Computer Science and Technology The Key Lab. of 'Embedded System and Service Computing' Ministry of Education of China Tongji University Shanghai 201804 China

Pairwise testing, which requires that every combination of valid values of each pair of system factors be covered by at lease one test case, plays an important role in software testing since many faults are caused by unexpected 2-way interactions among system factors. Although meta-heuristic strategies like simulated annealing can generally discover smaller pairwise test suite, they may cost more time to perform search, compared with greedy algorithms. We propose a new method, improved Extremal Optimization (EO) based on the Bak-Sneppen (BS) model of biological evolution, for constructing pairwise test suites and define fitness function according to the requirement of improved EO. Experimental results show that improved EO gives similar size of resulting pairwise test suite and yields an 85% reduction in solution time over SA.

关键词： Simulated annealing

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Adaptation of Mismatching services Based on Labelled Interface Automata

Adaptation of Mismatching Services Based on Labelled Interfa...

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Fifth International Conference on Semantics,Knowledge and Grid(第五届语义、知识与网格国际会议 SKG 2009)

作者： Tao Liu Guosun Zeng Department of Computer Science and Technology Tongji University Shanghai 200092 China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji Universit

In today's web, more and more software and applications are wrapped as services. However interactions between services are not always perfectly completed because of mismatches among them. service mediation and adaptation problems obtain increasingly concerns. In this paper, we propose an extension of interface automata, labelled interface automata, to illustrate mismatching services and adaptation. We characterize the problem by classifying different kinds of adaptation scenarios. Then we focus on how to use labelled interface automata to illustrate the building of adaption service between mismatching services.

关键词： mismatching service adaptation interface automata

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Independent global constraints-aware web service composition optimization

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Information Technology Journal 2009年第2期8卷 181-187页

作者： Fang, Xianwen Jiang, Changjun Fan, Xiaoqin Department of Computer Science and Technology Tongji University Shanghai 201804 China Key Lab of Embedded System and Service Computing Ministry of Education Shanghai 201804 China Department of Information and Computer Science Anhui University of Science and Technology Huainan Anhui 232001 China

In semi-automatic service composition, developers should construct the process model according to concrete application requirement and then the instance services are bound automatically for every abstract task and make the composite service with optimal performance. This study presents independent global constrains-aware Web service composition method based on associate Petri net (APN) and genetic algorithm (GA). Firstly, an APN modeling methods which can describe multi-attribute multi-constraint relations and associate relation between component services is proposed. Secondly, combining with the properties of APN, GA is used to search a legal firing sequence with the biggest trust value in the APN model and the composite service corresponding to the legal firing sequence is the optimal solution. Finally, the experimental simulation is given out. Theoretical analysis and experimental results indicate that this method owns both lower computation cost and higher success ratio of service composition. © 2009 Asian Network for Scientific Information.

关键词： Web services

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