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Optimal Path Planning for Minimizing Base Disturbance of Space Robot

International Journal of advanced Robotic Systems 2016年第2期13卷 41-41页

作者： Xiao-Peng Wei Jian-Xia Zhang Dong-Sheng Zhou Qiang Zhang School of Mechanical Engineering Dalian University of Technology Dalian China Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian University Dalian China

The path planning of free-floating space robot in space on-orbit service has been paid more and more attention. The problem is more complicated because of the interaction between the space robot and base. Therefore, it is necessary to minimize the base position and attitude disturbance to improve the path planning of free-floating space robot, reducing the fuel consumption for the position and attitude maintenance. In this paper, a reasonable path planning method to solve the problem is presented, which is feasible and relatively simple. First, the kinematic model of 6 degrees of freedom free-floating space robot is established. And then the joint angles are parameterized using the 7th order polynomial sine functions. The fitness function is defined according to the position and attitude of minimizing base disturbance and constraints of space robot. Furthermore, an improved chaotic particle swarm optimization (ICPSO) is presented. The proposed algorithm is compared with the standard PSO and CPSO algorithm in the literature by the experimental simulation. The simulation results demonstrate that the proposed algorithm is more effective than the two other approaches, such as easy to find the optimal solution, and this method could provide a satisfactory path for the free-floating space robot.

关键词： ICPSO Path Planning Base Disturbance Space Robot On-orbit Service

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Renumber coevolutionary multiswarm particle swarm optimization for multi-objective workflow scheduling on cloud computing environment 15

Renumber coevolutionary multiswarm particle swarm optimizati...

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17th Genetic and Evolutionary Computation Conference, GECCO 2015

作者： Li, Hai-Hao Chen, Zong-Gan Zhan, Zhi-Hui Du, Ke-Jing Zhang, Jun Department of Computer Science Sun Yat-sen University Guangzhou510275 China Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education P.R. China Collaborative Innovation Center of High Performance Computing National University of Defense Technology Changsha 410073 China Engineering Research Center of Supercomputing Engineering Software Ministry of Education P.R. China

ISBN: (纸本)9781450334884

Resources scheduling is a significant research topic in cloud computing, which is often modeled as a cost-minimization and deadline-constrained workflow scheduling model. This is a constrained single objective problem that to minimize the overall workflow execution cost while meeting deadline constraints. In this paper, we offer a new horizon to convert this single-objective problem to a multi-objective problem and present coevolutionary multiswarm particle swarm optimization (CMPSO) to find the non-dominated solutions with different execute cost and time. Meanwhile, the renumber strategy is adopted in CMPSO to make the learning efficient. CMPSO is compared with a renumber PSO (RNPSO) by setting the execute time in the CMPSO's nondominated solutions as the deadline constraint of RNPSO. Results show that CMPSO not only offers many non-dominated solutions with different prices and execute time, but also obtains better solution than RNPSO under a same deadline. Copyright is held by the owner/author(s).

关键词： Cloud computing

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Analyzing the loading capacity of autofrettage thick cylinder with a response surface surrogate model

Analyzing the loading capacity of autofrettage thick cylinde...

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2015 5th International Conference on Information engineering for Mechanics and Materials(ICIMM 2015)

作者： YanJun Shi Chenglong Liu XiaoJun Zheng School of Mechanical Engineering Dalian University of Technology Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education of Dalian University

The paper analyzed a steel thick cylinder, established a bilinear kinematic hardening model based on the von Mises yield criterion. We also considered the parameters of the material yield limit, the autofrettage pressure, working pressure and cylinder diameters, studied of a response surface model to predict design parameters. We firstly used the optimal Latin Hypercube method to acquire the sample points. Then, we established a response surface model with these points. We also employed cross-validation error analysis for error analysis. The results tested the feasibility of this method in solving such problems.

关键词： von Mises autofrettage pressure response surface model optimal latin hypercube

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Optimization design of Close-top Mill Housing Based on Agent Model and NSGA-Ⅱ Algorithm

Optimization design of Close-top Mill Housing Based on Agent...

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2015 5th International Conference on Information engineering for Mechanics and Materials(ICIMM 2015)

作者： Yanjun Shi Xianchao Wang Xiaojun Zheng School of Mechanical Engineering Dalian University of Technology Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education of Dalian University

Conventional engineering optimization design technology is often computational expense and highly time cost, thus we need to take approximation technique to speed up the design process and reduce design cost. We herein would introduce the close-top mill housing optimization model, take Optimal Latin Hypercube Sampling（OLHS） experimental design strategies to determine the sample, analyse the difference among EBF, RBF, Kriging surrogate model, introduce NSGA-II algorithm briefly and study the performance of method based on surrogate model and optimization algorithm.

关键词： EBF-NN RBF-NN Kriging NSGA-II Mill housing Surrogate models

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Author correction: Wafer-scale two-dimensional ferromagnetic Fe3GeTe2 thin films grown by molecular beam epitaxy

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npj 2D Materials and Applications 2017年第1期1卷 1页

作者： Shanshan Liu Xiang Yuan Ce Huang Enze Zhang Jiwei Ling Yanwen Liu Weiyi Wang Cheng Zhang Faxian Xiu Yichao Zou Jin Zou Yu Sheng Kaiyou Wang State Key Laboratory of Surface Physics and Department of Physics Fudan University Shanghai 200433 China Institute for Nanoelectronic Devices and Quantum Computing Fudan University 200433 Shanghai China Collaborative Innovation Center of Advanced Microstructures Nanjing 210093 China Materials Engineering The University of Queensland Brisbane QLD 4072 Australia Centre for Microscopy and Microanalysis The University of Queensland Brisbane QLD 4072 Australia SKLSM Institute of Semiconductors Chinese Academy of Sciences Beijing 100083 China

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A parallel target-directed analysis method for malware behaviors

A parallel target-directed analysis method for malware behav...

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International Conference on Cyberspace Technology, CCT 2014

作者： Qin, Yanfeng Wang, Qingxian Zeng, Yongjun Xi, Qi State Key Laboratory of Mathematical Engineering and Advanced Computing China Luoyang University of Foreign Languages China

ISBN: (纸本)9781849199285

To improve the efficiency of analyzing malware behaviors and increase the validity of the test data, this paper proposes a parallel target-directed analysis method for malware behaviors, which combines static analysis with concolic testing techniques. It first uses static analysis techniques to identify and locate those interactive or input points and sensitive behavior functions. Then based on the distributed platform, by combining symbolic execution and concrete dynamic execution together and taking malware sensitive behaviors as the leading target, the parallel target-directed algorithm of searching sensitive paths and the method of leading and approaching sensitive behaviors are designed. It leads to traverse the sensitive functions, obtain the sensitive paths which can reach the sensitive behavior areas by path backtracking, and generate the corresponding test data. Finally, it finishes the analysis and test of malware behaviors. Experiments show that, compared with fuzz and full paths covering and traversing technique, this method can generate test data more efficiently, reduce the number of paths to be analyzed, and improve the analysis speed and efficiency of malware behaviors.

关键词： Malware

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Characterizing Multi-media Retrieval Applications

Characterizing Multi-media Retrieval Applications

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International Conference on Parallel Processing (ICPP)

作者： Yunping Lu Xin Wang Weihua Zhang Yi Li Wenyun Zhao Shanghai Key Laboratory of Data Science Fudan University Shanghai China State Key Lab of Mathematical Engineering and Advanced Computing Wuxi China Software School Fudan University Shanghai China Parallel Processing Institute Fudan University Shanghai China

Multimedia data, especially image and video data, have become one of the most overwhelming data types on the Internet recently. Considering the user experience and real application requirements, multimedia data always demand a real-time processing speed. As a result, the huge amount of such data make retrieving useful information from them not only data-intensive, but also computation-intensive, which poses significant challenges to current system and architecture designs. Unfortunately, most prior studies focus only on text based retrieval systems or traditional multimedia processing applications. As far as we know, there is no systematic study on analyzing the characteristics of multimedia retrieval applications and how they might impact system and architecture designs. In this paper, we make the first attempt to construct a multimedia retrieval benchmark suite (called MMR Bench) to evaluate the corresponding system and architecture designs. To embody diverse multimedia retrieval applications, we collect eight state-of-the-art multimedia retrieval algorithms which cover the whole retrieval stages, including feature extraction, feature matching, and spatial verification. To satisfy diverse evaluation purposes, we implement multiple versions for each algorithm, including sequential version, pthread version for multi-core evaluation and data-parallel (i.e., Map-reduce) version for data-center evaluation. Moreover, MMR Bench provides flexible interfaces through retrieval stages, as well as a tool to adjust parameters and regenerating different scales of reasonable input. With such a flexible design, the algorithms in MMR Bench may be not only suitable for individual kernel-level evaluation, but also capable to be integrated into a complete infrastructure for system-level evaluation. Based on MMR Bench, we further analyze the inherent architectural characteristics, such as input size sensitivity and workload balance, which provides some insights into system and archite

关键词： Multimedia communication Feature extraction Benchmark testing Streaming media Algorithm design and analysis Computer architecture

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Estimates, trends, and drivers of the global burden of type 2 diabetes attributable to PM_2·5 air pollution, 1990–2019: an analysis of data from the Global Burden of Disease Study 2019

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The Lancet Planetary Health 2022年第7期6卷 e586-e600页

作者： Burkart, Katrin Causey, Kate Cohen, Aaron J Wozniak, Sarah S Salvi, Devashri Digvijay Abbafati, Cristiana Adekanmbi, Victor Adsuar, Jose C Ahmadi, Keivan Alahdab, Fares Al-Aly, Ziyad Alipour, Vahid Alvis-Guzman, Nelson Amegah, Adeladza Kofi Andrei, Catalina Liliana Andrei, Tudorel Ansari, Fereshteh Arabloo, Jalal Aremu, Olatunde Aripov, Timur Babaee, Ebrahim Banach, MacIej Barnett, Anthony Bärnighausen, Till Winfried Bedi, Neeraj Behzadifar, Masoud Béjot, Yannick Bennett, Derrick A Bensenor, Isabela M Bernstein, Robert S Bhattacharyya, Krittika Bijani, Ali Biondi, Antonio Bohlouli, Somayeh Breitner, Susanne Brenner, Hermann Butt, Zahid A Cámera, Luis Alberto Cantu-Brito, Carlos Carvalho, Felix Cerin, Ester Chattu, Vijay Kumar Chauhan, Bal Govind Choi, Jee-Young Jasmine Chu, Dinh-Toi Dai, Xiaochen Dandona, Lalit Dandona, Rakhi Daryani, Ahmad Davletov, Kairat De Courten, Barbora Demeke, Feleke Mekonnen Denova-Gutiérrez, Edgar Dharmaratne, Samath Dhamminda Dhimal, Meghnath Diaz, Daniel Djalalinia, Shirin Duncan, Bruce B El Sayed Zaki, Maysaa Eskandarieh, Sharareh Fareed, Mohammad Farzadfar, Farshad Fattahi, Nazir Fazlzadeh, Mehdi Fernandes, Eduarda Filip, Irina Fischer, Florian Foigt, Nataliya A Freitas, Marisa Ghashghaee, Ahmad Gill, Paramjit Singh Ginawi, Ibrahim Abdelmageed Gopalani, Sameer Vali Guo, Yuming Gupta, Rajat Das Habtewold, Tesfa Dejenie Hamadeh, Randah R Hamidi, Samer Hankey, Graeme J Hasanpoor, Edris Hassen, Hamid Yimam Hay, Simon I Heibati, Behzad Hole, Michael K Hossain, Naznin Househ, Mowafa Irvani, Seyed Sina Naghibi Jaafari, Jalil Jakovljevic, Mihajlo Jha, Ravi Prakash Jonas, Jost B Jozwiak, Jacek Jerzy Kasaeian, Amir Kaydi, Neda Khader, Yousef Saleh Khafaie, Morteza Abdullatif Khan, Ejaz Ahmad Khan, Junaid Khan, Md Nuruzzaman Khatab, Khaled Khater, Amir M Kim, Yun Jin Kimokoti, Ruth W Kisa, Adnan Kivimäki, Mika Knibbs, Luke D Kosen, Soewarta Koul, Parvaiz A Koyanagi, Ai Defo, Barthelemy Kuate Kugbey, Nuworza Lauriola, Paolo Lee, Paul H Leili, Mostafa Lewycka, Sonia Li, Shanshan Lim, Lee-Ling Li Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Division of Plastic and Reconstructive Surgery University of Washington Seattle WA United States Research Insights and Innovation Seattle WA United States Health Effects Institute Boston MA United States School of Public Health Boston University Boston MA United States Department of Juridical and Economic Studies La Sapienza University Rome Italy Department of Population Medicine Cardiff University Cardiff United Kingdom Sport Science Department University of Extremadura Badajoz Spain School of Public Health Imperial College London London United Kingdom Department of Primary Care and Public Health Imperial College London London United Kingdom Mayo Evidence-based Practice Center Mayo Clinic Foundation for Medical Education and Research Rochester MN United States John T. Milliken Department of Internal Medicine Washington University in St. Louis St. Louis MO United States Clinical Epidemiology Center US Department of Veterans Affairs (VA) St Louis MO United States Health Management and Economics Research Center Iran University of Medical Sciences Tehran Iran Department of Health Economics Iran University of Medical Sciences Tehran Iran Preventive Medicine and Public Health Research Center Iran University of Medical Sciences Tehran Iran Pars Advanced and Minimally Invasive Medical Manners Research Center Iran University of Medical Sciences Tehran Iran Department of Community and Family Medicine Iran University of Medical Sciences Tehran Iran Research Group in Hospital Management and Health Policies Universidad de la Costa (University of the Coast) Barranquilla Colombia Research Group in Health Economics University of Cartagena Cartagena Colombia Department of Biomedical Science University of Cape Coast Cape Coast Ghana Cardiology Department Ca

Background: Experimental and epidemiological studies indicate an association between exposure to particulate matter (PM) air pollution and increased risk of type 2 diabetes. In view of the high and increasing prevalence of diabetes, we aimed to quantify the burden of type 2 diabetes attributable to PM_2·5 originating from ambient and household air pollution. Methods: We systematically compiled all relevant cohort and case-control studies assessing the effect of exposure to household and ambient fine particulate matter (PM_2·5) air pollution on type 2 diabetes incidence and mortality. We derived an exposure–response curve from the extracted relative risk estimates using the MR-BRT (meta-regression—Bayesian, regularised, trimmed) tool. The estimated curve was linked to ambient and household PM_2·5 exposures from the Global Burden of Diseases, Injuries, and Risk Factors Study 2019, and estimates of the attributable burden (population attributable fractions and rates per 100 000 population of deaths and disability-adjusted life-years) for 204 countries from 1990 to 2019 were calculated. We also assessed the role of changes in exposure, population size, age, and type 2 diabetes incidence in the observed trend in PM_2·5-attributable type 2 diabetes burden. All estimates are presented with 95% uncertainty intervals. Findings: In 2019, approximately a fifth of the global burden of type 2 diabetes was attributable to PM_2·5 exposure, with an estimated 3·78 (95% uncertainty interval 2·68–4·83) deaths per 100 000 population and 167 (117–223) disability-adjusted life-years (DALYs) per 100 000 population. Approximately 13·4% (9·49–17·5) of deaths and 13·6% (9·73–17·9) of DALYs due to type 2 diabetes were contributed by ambient PM2·5, and 6·50% (4·22–9·53) of deaths and 5·92% (3·81–8·64) of DALYs by household air pollution. High burdens, in terms of numbers as well as rates, were estimated in Asia, sub-Saharan Africa, and South Am

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Erratum: “Influence of heavy metal materials on magnetic properties of Pt/Co/heavy metal tri-layered structures” [Appl. Phys. Lett. 110, 012405 (2017)]

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Applied Physics Letters 2017年第10期110卷

作者： Boyu Zhang Anni Cao Junfeng Qiao Minghong Tang Kaihua Cao Xiaoxuan Zhao Sylvain Eimer Zhizhong Si Na Lei Zhaohao Wang Xiaoyang Lin Zongzhi Zhang Mingzhong Wu Weisheng Zhao 1Fert Beijing Research Institute Beihang University Beijing 100191 China 2Beijing Advanced Innovation Center for Big Data and Brain Computing (BDBC) Beihang University Beijing 100191 China 3School of Electronic and Information Engineering Beihang University Beijing 100191 China 4Key Laboratory of Micro and Nano Photonic Structures (Ministry of Education) Department of Optical Science and Engineering Fudan University Shanghai 200433 China 5Department of Physics Colorado State University Fort Collins Colorado 80523 USA

The following errors appeared in the above article.1

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Contact-based motion graph and its application in locomotion synthesis for virtual actors

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International Journal of Industrial and Systems engineering 2015年第1期20卷 58-68页

作者： Wei, Xiaopeng Yi, Pengfei Zhang, Qiang School of Mechanical and Engineering Dalian University of Technology Dalian116024 China Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian University Dalian116622 China

To generate foot-skate free locomotion along user defined path for virtual actors, a novel data structure of contact-based motion graph is proposed. At first, sample motions are divided to contact clips according to the number of feet in contact with the ground. Then a directed graph can be built by producing nodes and basic edges based on these clips. After generating edges between nodes from different samples by linear interpolation, the contact-based motion graph can be defined as a strongly connected component of this graph. Applying synthesis strategy designed for nodes and edges, a path on contact-based motion graph can be converted to a smooth foot-skate free motion moving along the given path. The following experiments show the effectiveness of this method. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： Directed graphs

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