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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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Dynamic frequency selection and spatial interaction fusion for robust person search

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Information Fusion 2025年 124卷

作者： Qixian Zhang Duoqian Miao Qi Zhang Cairong Zhao Hongyun Zhang Ye Sun Ruizhi Wang School of Computer Science and Technology Tongji University Shanghai 201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China School of Computer Science Fudan University Shanghai 200438 China

Person search aims to locate target individuals in large image databases captured by multiple non-overlapping cameras. Existing models primarily rely on spatial feature extraction to capture fine-grained local details, which is vulnerable to background clutter and occlusions and leads to unstable feature representations. To address the issues, we propose a Dynamic Frequency Selection and Spatial Interaction Fusion Network (PS-DFSI), marking the first attempt to introduce frequency decoupling and selection into person search. By integrating frequency and spatial features, PS-DFSI enhances feature expressiveness and robustness. Specifically, it comprises two core modules: the Dynamic Frequency Selection Module (DFSM) and the Spatial Frequency Interaction Module (SFIM). DFSM decouples feature maps into low-frequency and high-frequency components using learnable low-pass and high-pass filters, and a frequency selection modulator emphasizes key frequency components via channel attention. SFIM refines local details by fusing frequency-enhanced features with high-level semantic representations, leveraging multi-scale receptive fields and cross-feature attention for efficient spatial-frequency integration. Extensive experiments on CUHK-SYSU and PRW demonstrate that PS-DFSI significantly improves person search performance, validating its effectiveness and robustness.

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Autonomic Performance and Power Control on Virtualized Servers:Survey, Practices, and Trends

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Journal of Computer Science & Technology 2014年第4期29卷 631-645页

作者：周笑波蒋昌俊 IEEE ACM Department of Computer Science University of Colorado Colorado Springs U.S.A. The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University CCF Department of Computer Science and Technology Tongji University

Modern datacenter servers hosting popular Internet services face significant and multi-facet challenges in performance and power control. The user-perceived performance is the result of a complex interaction of complex workloads in a very complex underlying system. Highly dynamic and bursty workloads of Internet services fluctuate over multiple time scales, which has a significant impact on processing and power demands of datacenter servers. High-density servers apply virtualization technology for capacity planning and system manageability. Such virtuMized computer systems are increasingly large and complex. This paper surveys representative approaches to autonomic performance and power control on virtualized servers, which control the quality of service provided by virtualized resources, improve the energy efficiency of the underlying system, and reduce the burden of complex system management from human operators. It then presents three designed self-adaptive resource management techniques based on machine learning and control for percentile-based response time assurance, non-intrusive energy-efficient performance isolation, and joint performance and power guarantee on virtualized servers. The techniques were implemented and evaluated in a testbed of virtualized servers hosting benchmark applications. Finally, two research trends are identified and discussed for sustainable cloud computing in green datacenters.

关键词： autonomic computing joint performance and power control virtualized server Internet application sustainable computing

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Constructing prioritized interaction test suite with interaction relationship

Constructing prioritized interaction test suite with interac...

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2nd International Workshop on education Technology and Computer Science, ETCS 2010

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

ISBN: (纸本)9780769539874

Interaction testing has addressed some issues on how to select a small subset of test cases. In many systems where interaction testing is needed, the entire test suite is not executed because of time or budget constraints. It is important to prioritize the test cases in these situations. On the other hand, there are not always interactions among any factors in real systems. Moreover, some factors may need N-way (N>2) testing since there is a closer relationship among them. We present a model for prioritized interaction testing with interaction relationship and propose a greedy algorithm for generating variable strength covering arrays with bias. © 2010 IEEE.

关键词： Testing

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Large-scale video compression： recent advances and challenges

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Frontiers of Computer Science 2018年第5期12卷 825-839页

作者： Tao TIAN Hanli WANG Department of Computer Science and Technology Tongji University Shanghai 201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 200092 China Shanghai Engineering Research Center of Industrial Vision Perception & Intelligent Computing Shanghai 200092 China

The evolution of social network and multimedia technologies encourage more and more people to generate and upload visual information, which leads to the generation of large-scale video data. Therefore, preeminent compression technologies are highly desired to facilitate the storage and transmission of these tremendous video data for a wide variety of applications. In this paper, a systematic review of the recent advances for large-scale video compression （LSVC） is presented. Specifically, fast video coding algorithms and effective models to improve video compression efficiency are introduced in detail, since coding complexity and compression efficiency are two important factors to evaluate video coding approaches. Finally, the challenges and fu- ture research trends for LSVC are discussed.

关键词： large-scale video compression fast video coding compression efficiency

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A New MPI Parallel computing Environment Based on Fibre-channel Token-Routing Network for Materials Simulation Research

A New MPI Parallel Computing Environment Based on Fibre-chan...

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International Conference on Advanced Materials in Microwaves and Optics (AMMO 2011)

作者： Zeng, Xiaohui Liu, Dongsheng Luo, Wenlang Fu, Lixin School of Electronics and Information Engineering Jinggangshan University China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University China

ISBN: (纸本)9783037852736

In order to apply our high efficiency fibre-channel token-routing network (shortened as FC-TR network) to the field of materials simulation research, a new MPI parallel computing environment is proposed and designed, and independently developed a parallel programming environment FC-TR-MPI based on FC-TR network. In FC-TR-MPI, a new method was applied to point-to-point communication that the network communications between processes in the same computing node were changed into memory operations;moreover, according to the underlying software and hardware features of FC-TR network, new algorithms were proposed to optimize the communication performance of some collective communications. Experimental results show that, compared with ScaMPI parallel programming environment, FC-TR-MPI has a higher parallel efficiency and speedup.

关键词： MPI parallel computing environment fibre-channel materials simulation

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A credible individual behavior profiling method for online payment fraud detection 21

A credible individual behavior profiling method for online p...

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4th International Conference on Data Storage and Data Engineering, DSDE 2021

作者： Cui, Jipeng Yan, Chungang Wang, Cheng Key Laboratory of the Ministry of Education for Embedded System and Service Computing Department of Computer Science and Engineering Tongji University China

ISBN: (纸本)9781450389303

Online payment fraud detection relies on a credible characterization of individual behaviors. Existing individual behavior profiling methods have three problems in credibility. Firstly, they solely regard users as individuals to model and fail to credibly characterize the whole behavior patterns of transactions. Secondly, they cannot make full use of the general information among similar individuals due to the heterogeneity of transaction attributes. Thirdly, they are not capable of utilizing the label information of transactions credibly. Faced with these challenges, we propose a credible method for individual behavior profiling that consists of two steps. The first step is the construction of the credible individual behavior profiling framework. To begin with, the concept of individuals is generalized and the credible transaction description is given. Afterwards, based on the co-occurrence information of transaction attributes, the credible behavior condition is defined to set a limit to individual behavior patterns. The second step is the implementation of the framework. For this purpose, the original fraud detection problem is transformed into a pseudo-recommender system problem with a co-occurrence mapping process. In order to guarantee the credible behavior constraint, a credible recommendation algorithm is designed to collaboratively restore both the ranking and rating information of the pseudo-rating matrices. Besides, an embedding based approach is adopted to parameterize the proposed model. Experiments on an online payment transaction dataset demonstrate the effectiveness of our proposed method. © 2021 ACM.

关键词： Crime

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Fuzzy H∞ Filtering for Nonlinear Networked systems with Multiple Stochastic Time-Varying Delays, Packet Dropouts and Sensor Saturation 34

Fuzzy H∞ Filtering for Nonlinear Networked Systems with Mul...

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第三十四届中国控制会议

作者： XU Xiaoli YAN Huaicheng ZHANG Hao SHI Hongbo Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education School of information Science and Engineering East China University of Science and Technology Key Laboratory of Embedded System and Service Computing Ministry of Education

ISBN: (纸本)9781467374439

This paper investigates the problem of H∞ filter design for a class of nonlinear networked system based on T-S fuzzy model. Multiple stochastic time-varying delays and some incomplete information are considered simultaneously. Incomplete information includes randomly occurring sensor saturation and packet dropouts. Stochastic time-varying delays are depicted as a sequence of stochastic and independent variables, which take values on 0 and 1. Two sets of Bernoulli distributed white noises are introduced to describe randomly occurring sensor saturation and packet dropouts. system conservatism is reduced due to introduce an approach of piecewise quadratic Lyapunov function. By solving a set of linear matrix inequalities(LMIs), the filter parameters are obtained. Finally, a simulation example is provided to illustrate the effectiveness of the proposed filter design approach.

关键词： H ∞ filtering,multiple time-varying delays,randomly occurring sensor saturation,packet dropouts,piecewise quadratic Lyapunov function

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Dynamic Walking of AIBO with Hopf Oscillators

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 612-617页

作者： ZHANG Jiaqi TOMIZUKA Masayoshi CHEN Qijun LIU Chengju College of Electronic Information and Engineering Tongji University Shanghai 201804 China College of Electronic Information andEngineering Tongji University Shanghai 201804 China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China

More and more biological evidences have been found that neural networks in the spinal cord, referred to as ＂central pattern generators＂（CPGs）, govern locomotion. CPGs are capable of producing rhythmic movements, such as swimming, flying, and walking, even when isolated from the brain and sensory inputs. If we could build up any models that have similar functions as CPGs, it will be much easier to design better locomotion for robots. In this paper, a self-training environment is designed and through genetic algorithm （GA）, walking trajectories for every foot of AIBO are generated at first. With this acquired walking pattern, AIBO gets its fastest locomotion speed. Then, this walking pattern is taken as a reference to build CPGs with Hopf oscillators. By changing corresponding parameters, the frequencies and the amplitudes of CPGs＇ outputs can be adjusted online. The limit cycle behavior of Hopf oscillators ensures the online adjustment and the walking stability against perturbation as well. This property suggests a strong adaptive capacity to real environments for robots. At last, simulations are carried on in Webots and verify the proposed method.

关键词： central pattern generators（CPGs） Hopf Oscillators walking control AIBO Webots

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A Biometric-Based User Authentication for Wireless Sensor Networks

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Wuhan University Journal of Natural Sciences 2010年第3期15卷 272-276页

作者： YUAN Jianjun JIANG Changjun JIANG Zuowen School of Electronics and Information Engineering Tongji University / Key Laboratory of Embedded System and Service Computing of Ministry of Education Shanghai 201804 China

This paper proposes a biometric-based user authentication protocol for wireless sensor networks （WSN） when a user wants to access data from sensor nodes, since WSN are often deployed in an unattended environment. The protocol employs biometric keys and resists the threats of stolen verifier, of which many are logged-in users with the same login identity, guessing, replay, and impersonation. The protocol uses only Hash function and saves the computational cost, the communication cost, and the energy cost. In addition, the user＇s password can be changed freely using the proposed protocol.

关键词： authentication biometrics security wireless sensor networks

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