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High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun WANG Junzheng WANG Xiuwen WANG Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body Control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude Control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance Control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

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Functional signatures: new definition and constructions

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Science China(information Sciences) 2021年第12期64卷 189-201页

作者： Qingwen GUO Qiong HUANG Sha MA Meiyan XIAO Guomin YANG Willy SUSILO College of Mathematics and Informatics South China Agricultural University Guangzhou Key Laboratory of Intelligent Agriculture South China Agricultural University School of Computing and Information Technology University of Wollongong

Functional signatures(FS) enable a master authority to delegate its signing privilege to an assistant. Concretely, the master authority uses its secret key skFto issue a signing key skffor a designated function f ∈ FFSand sends both f and skfto the assistant E, which is then able to compute a signature σf with respect to pkFfor a message y in the range of f. In this paper, we modify the syntax of FS slightly to support the application scenario where a certificate of authorization is necessary. Compared with the original FS, our definition requires that FFSis an injective function family and for any f0, f1 ∈ FFS there does not exist an intersection between range(f0) and range(f1). Accordingly, we redefine the security of FS and introduce two additional security notions, called unlinkability and accountability. Signatures σfin our definition do not expose the intention of the master authority. We propose two constructions of FS. The first one is a generic construction based on signatures with perfectly re-randomizable keys, non-interactive zero-knowledge proof(NIZK) and traditional digital signatures, and the other is based on RSA(RivestShamir-Adleman) signatures with full domain hash and NIZK. We prove that both schemes are secure under the given security models.

关键词： cloud computation security digital signature functional signature non-interactive zero-knowledge proof e-commerce

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A Cross-domain Radar Emitter Recognition Method with Few-shot Learning 4

A Cross-domain Radar Emitter Recognition Method with Few-sho...

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4th International Symposium on Computer Engineering and intelligent Communications, ISCEIC 2023

作者： Luo, Yixian Liu, Tianrui Li, Xueqiong Liu, Hengzhu Institute for Quantum Information State Key Laboratory of High Performance Computing National University of Defense Technology Changsha China College of Computer National University of Defense Technology Changsha China

ISBN: (纸本)9798350306323

In many realistic scenarios, it is necessary but challenging to acquire a large number of annotated radar emitter samples for training a recognition model. This study proposes a cross-domain radar emitter recognition method with few-shot learning, which introduces model-agnostic meta-learning (MAML) to recognize radar emitter and improves it to adapt to various types of radar emitter in different domains without spending a lot of time and data to retrain the model. This method can learn an ideal initialization parameter with a few source domain samples, and then initialize with this parameter on a completely different target domain. It can obtain good generalization effect by fine-tuning with fewer samples, so as to realize cross-domain recognition of radar emitter. Simulation results show that the accuracy of the proposed method can reach more than 90% in high-noise target domains with completely different data distribution from the source domain, which shows its superiority in recognition performance and sample size compared with other radar emitter recognition methods. © 2023 IEEE.

关键词： Learning systems

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Study on energy band design of mid-wave infrared high-gain quantum cascade laser 11

Study on energy band design of mid-wave infrared high-gain q...

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11th International Symposium on Precision Mechanical Measurements

作者： Han, Y.Z. Dongliang, Zhang Lidan, Lu Lianqing, Zhu Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument Beijing Information Science & Technology University Beijing100192 China Guangzhou Nansha Intelligent Photonic Sensing Research Institute Guangdong Province GuangZhou511462 China

ISBN: (纸本)9781510680296

Because of its superior performance, infrared lasers are frequently employed in medical detection, infrared imaging, gas detection, and space optical communication. This work proposes a new simple energy band structure for radiation at room temperature, based on energy band simulation. The results showed that the components for Ga0.34In0.66As/Al0.68In0.32As, as potential well/base layer, by optimizing the core area, in this simple cascade cycle structure can achieve high - optical gain. By growing two different strain superlattices, the growth rate and composition of superlattices are calculated, and finally the growth of epilayer without mis-matches is realized. AFM analysis sample has good surface morphology. © 2024 SPIE.

关键词： Quantum cascade lasers

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A Robust key Exchange and Tamper-Resistant Protocol for HAN and NAN Networks in Smart Grids

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IEEE Internet of Things Journal 2025年第12期12卷 21394-21403页

作者： Ayub, Muhammad Faizan Li, Xiong Mahmood, Khalid Shamshad, Salman Das, Ashok Kumar Wang, Guijuan University of Electronic Science and Technology of China School of Computer Science and Engineering Sichuan Chengdu611731 China National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan The University of Lahore Department of Software Engineering Lahore54590 Pakistan International Institute of Information Technology Center for Security Theory and Algorithmic Research Hyderabad500 032 India Korea University College of Informatics Department of Computer Science and Engineering Anam-ro Seoul145 Korea Republic of Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Industrial Network and Information System Security Jinan250353 China

Smart Grids (SG) rely on Home Area Networks (HAN) and Neighborhood Area Networks (NAN) to ensure efficient power distribution, real-time monitoring, and seamless communication between smart devices. Despite these advantages, the use of public communication channels in HAN and NAN networks introduces critical challenges, such as vulnerability to impersonation, physical tampering, and scalability issues in resource-constrained environments. These issues compromise the stability, reliability, and security of SG environments. Existing protocols often fail to adequately address these challenges, particularly in ensuring resistance to physical tampering of supply lines and impersonation attacks. Additionally, they struggle to minimize the computation, communication, and energy costs associated with securing a resource-constrained SG environment. Therefore, we propose a robust key exchange and tamper-resistant protocol for HAN and NAN networks to address these limitations. The proposed protocol leverages the Physical Unclonable Function (PUF) mechanism to offer physical tampering resistance to smart meters. We validate our protocol formally using the Random or Real (RoR) model, which confirms its security robustness. Additionally, our informal security analysis highlights the protocol's resilience against impersonation, physical tampering attacks, etc. We analyze and compare the performance of the proposed protocol, which further demonstrates our protocol's effectiveness and security compared to competing protocols. Moreover, the proposed protocol achieves resource efficiency with 45.99% and 58.85% substantial reductions in computation overhead and energy overhead, respectively, compared to competing protocols. These results showcase the protocol's enhanced security and practicality for resource-constrained SG environments. © 2014 IEEE.

关键词： Authentication Protocol

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Extracting High-order Connectivity of EEG-based Dynamic Functional Connectivity Networks for Diagnosis of Major Depressive Disorder 24

Extracting High-order Connectivity of EEG-based Dynamic Func...

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4th Asia-Pacific Artificial Intelligence and Big Data Forum, AIBDF 2024

作者： Zhao, Feng Fan, Wenxuan Han, Zhongwei Chen, Hongyu School of Computer Science and Technology Shandong Technology and Business University Shandong Yantai China Yantai Key Laboratory of Big Data Modeling and Intelligent Computing Shandong Yantai China Immersion Technology and Evaluation Shandong Engineering Research Center Shandong Yantai China Information Engineering College Yantai Institute of Technology Shandong Yantai China Shandong Technology and Business University Shandong Yantai China

ISBN: (纸本)9798400710865

Functional connectivity networks (FCNs), particularly those utilizing the phase lag index (PLI) method, have been instrumental in elucidating the pathological features of Major Depressive Disorder (MDD) by assessing the synchrony and lag of electroencephalogram (EEG) signal waveforms. Currently, the more prevalent methods are traditional FCNs that quantify phase synchronization as scalar values and dynamic FCNs (D-FCNs) that employ sliding window approaches to capture the instantaneous variations in functional connectivity. However, these two methods merely capture the low-level functional connections between paired regions of interest (ROIs) from both the static and dynamic perspectives, and fail to reflect the high-level functional connections involving multiple ROIs. Moreover, the feature dimension of the dynamic FCN is excessively high, and there exists a phase mismatch issue between different samples, which renders it impossible to be directly applied to the classification task, and no better solution is available at present. To mitigate these issues, we proposed a comprehensive framework that includes segmenting EEG sequences based on PLI to construct dynamic FCNs;employing seventh-order central moments for feature extraction to form low-order FCNs (Lo-FCNs);and establishing high-order FCNs (Ho-FCNs) based on Pearson correlation theory derived from Lo-FCNs. We conducted classification experiments across four distinct EEG frequency bands using our proposed framework while analyzing relevant features through graph theory and brain topological mapping techniques. The experiments showed that the proposed framework has a high classification accuracy rate in the classification experiments of MDD and NC, and proved the importance of high-order features in classification experiments, indicating that they may serve as physiological markers for MDD diagnosis. © 2024 Copyright held by the owner/author(s).

关键词： Electroencephalography

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Provably Secure Efficient key-Exchange Protocol for intelligent Supply Line Surveillance in Smart Grids

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IEEE Internet of Things Journal 2025年第12期12卷 21784-21792页

作者： Ayub, Muhammad Faizan Li, Xiong Mahmood, Khalid Alenazi, Mohammed J.F. Das, Ashok Kumar Wang, Guijuan University of Electronic Science and Technology of China School of Computer Science and Engineering Sichuan Chengdu12599 China National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan Department of Computer Engineering Riyadh11451 Saudi Arabia International Institute of Information Technology Center for Security Theory and Algorithmic Research Hyderabad500 032 India Korea University College of Informatics Department of Computer Science and Engineering Anam-ro Seoul145 Korea Republic of Ministry of Education Shandong Computer Science Center Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Jinan250353 China Shandong Provincial Key Laboratory of Industrial Network and Information System Security China Shandong Fundamental Research Center for Computer Science Jinan 250353 China

intelligent supply line surveillance is critical for modern smart grids. Smart sensors and gateway nodes are strategically deployed along supply lines to achieve intelligent surveillance. They collect data continuously and transmit it to the control centre in real-time. It enables real-time monitoring, fault detection, and efficient energy management across distribution networks. This advanced surveillance system ensures continuous monitoring of supply lines, detecting anomalies, and optimizing operations to maintain the stability and reliability of the smart grid. However, the reliance of all participating nodes on public communication channels to transmit supply line surveillance data exposes these systems to critical cyber attacks. These cyber attacks include impersonation, physical tampering, ephemeral secret leakage, and desynchronization attacks. To address these issues, existing key-exchange protocols often fail to ensure robust security while imposing high computation and communication overheads, limiting their practicality for resource-constrained environments. Therefore, we propose a secure and efficient key exchange and tamper-resistant authentication protocol using Elliptic Curve Cryptography (ECC) and Physical Unclonable Functions (PUFs). The PUF mechanism provides robust resistance against physical tampering and cloning attacks, ensuring enhanced physical security for supply line devices. We validate the security robustness of the devised protocol using the Random or Real (ROR) model. Furthermore, informal security analysis demonstrates the protocol's robustness in rigorously resisting various attacks, including physical tampering, impersonation, ephemeral secret leakage and desynchronization. Moreover, we determine the performance evaluation that reveals the protocol's superior efficiency compared to competing protocols, achieving significant reductions of 28.64% in computation overhead and 9.96% in communication overhead. © 2014 IEEE.

关键词： Authentication Protocol

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Variant quantifiers in L_(3)-valued first-order logic

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Frontiers of Computer Science 2021年第5期15卷 151-159页

作者： Wei LI Yuefei SUI State Key Laboratory of Software Development Environment Beihang UniversityBeijing 100083China Key Laboratory of Intelligent Information Processing Institute of Computing TechnologyChinese Academy of SciencesBeijing 100190China School of Computer Science and Technology University of Chinese Academy of SciencesBeijing 100049China

Traditional first-order logic has four definitions for quantifiers,which are defined by universal and existential *** L_(3)-valued(three-valued)first-order logic,there are eight kinds of definitions for quantifiers;and corresponding Gentzen deduction systems will be given and their soundness and completeness theorems will be proved.

关键词： L_(3)-valued(three-valued)first-order logic sequent quantifier soundness theorem completeness theorem

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Application of Autonomous Control for Quadruped Robots Based on Deep Reinforcement Learning 6

Application of Autonomous Control for Quadruped Robots Based...

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6th International Conference on Communications, information System and Computer Engineering, CISCE 2024

作者： Qi, Yonghui Yu, Bo Xu, Sen Yang, Xin School of Computer Science and Technology Shenyang University of Chemical Technology Liaoning Key Laboratory of Intelligent Technology for Chemical Process Industry Shenyang China Shenyang Institute of Computing Technology Chinese Academy of Sciences Shenyang China School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang China

ISBN: (纸本)9798350353174

To endow the simulated quadruped robot with autonomous action control capabilities, this paper proposes the use of the PPO (Proximal Policy Optimization) algorithm, a deep reinforcement learning technique, to enable the quadruped robot to make autonomous decisions during walking tasks. Since walking tasks involve continuous actions that depend not only on the current state but also on past actions and states, this paper improves the PPO algorithm with LSTM (Long Short-Term Memory) to enhance the autonomous decision-making ability of the quadruped robot during walking. Using PyBullet to simulate the walking environment of the quadruped robot, experiments have verified that the improved PPO algorithm significantly outperforms the unimproved PPO algorithm in terms of performance. © 2024 IEEE.

关键词： Deep reinforcement learning

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Privacy-Preserving Large-Scale AI Models for intelligent Railway Transportation Systems:Hierarchical Poisoning Attacks and Defenses in Federated Learning

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Computer Modeling in Engineering & Sciences 2024年第11期141卷 1305-1325页

作者： Yongsheng Zhu Chong Liu Chunlei Chen Xiaoting Lyu Zheng Chen Bin Wang Fuqiang Hu Hanxi Li Jiao Dai Baigen Cai Wei Wang School of Automation and Intelligence Beijing Jiaotong UniversityBeijing100044China Institute of Computing Technologies China Academy of Railway Sciences Corporation LimitedBeijing100081China School of Computer Science and Technology Beijing Jiaotong UniversityBeijing100044China Beijing Key Laboratory of Security and Privacy in Intelligent Transportation Beijing Jiaotong UniversityBeijing100044China Institute of Infrastructure Inspection China Academy of Railway Sciences Corporation LimitedBeijing100081China Zhejiang Key Laboratory of Multi-Dimensional Perception Technology Application and CybersecurityHangzhou310053China

The development of intelligent Railway Transportation Systems necessitates incorporating privacy-preserving mechanisms into AI models to protect sensitive information and enhance system *** learning offers a promising solution by allowing multiple clients to train models collaboratively without sharing private ***,despite its privacy benefits,federated learning systems are vulnerable to poisoning attacks,where adversaries alter local model parameters on compromised clients and send malicious updates to the server,potentially compromising the global model’s *** this study,we introduce PMM(Perturbation coefficient Multiplied by Maximum value),a new poisoning attack method that perturbs model updates layer by layer,demonstrating the threat of poisoning attacks faced by federated *** experiments across three distinct datasets have demonstrated PMM’s ability to significantly reduce the global model’s ***,we propose an effective defense method,namely CLBL(Cluster Layer By Layer).Experiment results on three datasets have confirmed CLBL’s effectiveness.

关键词： Privacy-preserving intelligent railway transportation system federated learning poisoning attacks defenses

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