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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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Water color from Sentinel-2 MSI data for monitoring large rivers:Yangtze and Danube

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地球空间信息科学学报（英文版） 2024年第3期27卷 854-869页

作者： Shenglei Wang Xuezhu Jiang Evangelos Spyrakos Junsheng Li Conor McGlinchey Adriana Maria Constantinescu Andrew N.Tyler International Research Center of Big Data for Sustainable Development Goals BeijingChina Key Laboratory of Digital Earth Science Aerospace Information Research InstituteChinese Academy of SciencesBeijingChina International Research Center of Big Data for Sustainable Development Goals BeijingChina Key Laboratory of Digital Earth Science Aerospace Information Research InstituteChinese Academy of SciencesBeijingChina College of Resources and Environment University of Chinese Academy of SciencesBeijingChina Earth and Planetary Observation Sciences(EPOS) Department of Biological and Environmental StudiesFaculty of Environmental SciencesUniversity of StirlingStirlingUK International Research Center of Big Data for Sustainable Development Goals BeijingChina Key Laboratory of Digital Earth Science Aerospace Information Research InstituteChinese Academy of SciencesBeijingChina School of Electronic Electrical and Communication EngineeringUniversity of Chinese Academy of SciencesBeijingChina National Institute of Marine Geology and GeoEcology-GeoEcoMar BucharestRomania

Rivers provide key ecosystem services that are inherently engineered and optimized to meet the strategic and economic needs of countries around the ***,limited water quality records of a full river continuum hindered the understanding of how river systems response to the multiple stressors acting on *** study highlights the use of Sentinel-2 Multi-Spectral Imager(MSI)data to monitor changes in water color in two optically complex river systems:the Yangtze and Danube using the Forel-Ule Index(FUI).FUI divides water color into 21 classes from dark blue to yellowish brown stemming from the historical Forel-Ule water color scale and has been promoted as a useful indicator showing water turbidity variations in water *** results revealed contrasting water color patterns in the two rivers on both spatial and seasonal ***,the FUI of the Yangtze River gradually increased from the upper reaches to the lower reaches,while the FUI of the Danube River declined in the lower reaches,which is possibly due to the sediment sink effect of the Iron Gate *** regional FUI peaks and valleys observed in the two river systems have also been shown to be related to the dams and hydropower stations along ***,the variations of FUI in both systems can be attributed to climate seasonality,especially precipitation in the basin and the water ***,land cover within the river basin was possibly a significant determinant of water color,as higher levels of vegetation in the Danube basin were associated with lower FUI values,whereas higher FUI values and lower levels of vegetation were observed in the Yangtze *** study furthers our knowledge of using Sentinel-2 MSI to monitor and understand the spatial-temporal variations of river systems and highlights the capabilities of the FUI in an optically complex environment.

关键词： Forel-Ule Index(FUI) water color water quality rivers Sentinel-2 MSI Yangtze Danube

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Effective and Imperceptible Adversarial Textual Attack Via Multi-objectivization

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ACM Transactions on Evolutionary Learning and Optimization 2024年第3期4卷 1-23页

作者： Liu, Shengcai Lu, Ning Hong, Wenjing Qian, Chao Tang, Ke Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen College of Engineering South Tower 1088 Xueyuan Avenue Guangdong Shenzhen518055 China Department of Computer Science and Engineering Hong Kong University of Science and Technology Hong Kong999077 Hong Kong National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen 10F Zhizhen Building Canghai Campus 3688 Nanhai Avenue Guangdong Shenzhen China National Key Laboratory for Novel Software Technology School of Artificial Intelligence Nanjing University Nanjing International College Area Xianlin Campus 163 Xianlin Avenue Jiangsu Nanjing China

The field of adversarial textual attack has significantly grown over the past few years, where the commonly considered objective is to craft adversarial examples (AEs) that can successfully fool the target model. However, the imperceptibility of attacks, which is also essential for practical attackers, is often left out by previous studies. In consequence, the crafted AEs tend to have obvious structural and semantic differences from the original human-written text, making them easily perceptible. In this work, we advocate leveraging multi-objectivization to address such an issue. Specifically, we reformulate the problem of crafting AEs as a multi-objective optimization problem, where the attack imperceptibility is considered as an auxiliary objective. Then, we propose a simple yet effective evolutionary algorithm, dubbed HydraText, to solve this problem. HydraText can be effectively applied to both score-based and decision-based attack settings. Exhaustive experiments involving 44,237 instances demonstrate that HydraText consistently achieves competitive attack success rates and better attack imperceptibility than the recently proposed attack approaches. A human evaluation study also shows that the AEs crafted by HydraText are more indistinguishable from human-written text. Finally, these AEs exhibit good transferability and can bring notable robustness improvement to the target model by adversarial training. © 2024 Copyright held by the owner/author(s).

关键词： Multiobjective optimization

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AuRoRA: A One-for-all Platform for Augmented Reasoning and Refining with Task-Adaptive Chain-of-Thought Prompting 30

AuRoRA: A One-for-all Platform for Augmented Reasoning and R...

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Joint 30th International Conference on Computational Linguistics and 14th International Conference on Language Resources and Evaluation, LREC-COLING 2024

作者： Zou, Anni Zhang, Zhuosheng Zhao, Hai Li, Xiaoshan Bian, Minjie Department of Computer Science and Engineering Shanghai Jiao Tong University China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University China Shanghai Technology Innovation Department Shanghai Data Group Co. Ltd. China Shanghai Data Group Co. Ltd. China

ISBN: (纸本)9782493814104

Large language models (LLMs) empowered by chain-of-thought (CoT) prompting have yielded remarkable prowess in reasoning tasks. Nevertheless, current methods predominantly lean on handcrafted or task-specific demonstrations, lack reliable knowledge basis and thus struggle for trustworthy responses in an automated pattern. While recent works endeavor to improve upon one certain aspect, they ignore the importance and necessity of establishing an integrated and interpretable reasoning system. To address these drawbacks and provide a universal solution, we propose AuRoRA: a one-for-all platform for augmented reasoning and refining based on CoT prompting that excels in adaptability, reliability, integrity, and interpretability. The system exhibits superior performances across six reasoning tasks and offers real-time visual analysis, which has pivotal academic and application value in the era of LLMs. The AuRoRA platform is available at https://***/spaces/Anni123/AuRoRA. © 2024 ELRA Language Resource Association: CC BY-NC 4.0.

关键词： Refining

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Visual Object Tracking via Cascaded RPN Fusion and Coordinate Attention

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Computer Modeling in engineering & Sciences 2022年第9期132卷 909-927页

作者： Jianming Zhang Kai Wang Yaoqi He Lidan Kuang School of Computer and Communication Engineering Changsha University of Science and TechnologyChangsha410114China Hunan Provincial Key Laboratory of Intelligent Processing of Big Data on Transportation Changsha University of Science and TechnologyChangsha410114China

Recently,Siamese-based trackers have achieved excellent performance in object ***,the high speed and deformation of objects in the movement process make tracking ***,we have incorporated cascaded region-proposal-network(RPN)fusion and coordinate attention into Siamese *** proposed network framework consists of three parts:a feature-extraction sub-network,coordinate attention block,and cascaded RPN *** exploit the coordinate attention block,which can embed location information into channel attention,to establish long-term spatial location dependence while maintaining channel ***,the features of different layers are enhanced by the coordinate attention *** then send these features separately into the cascaded RPN for classification and *** to the two classification and regression results,the final position of the target is *** verify the effectiveness of the proposed method,we conducted comprehensive experiments on the OTB100,VOT2016,UAV123,and GOT-10k *** with other state-of-the-art trackers,the proposed tracker achieved good performance and can run at real-time speed.

关键词： Object tracking deep learning coordinate attention cascaded RPN

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Learning Self-Supervised Vision Transformers from Scratch for Aerial Person Re- Identification 13

Learning Self-Supervised Vision Transformers from Scratch fo...

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13th International Conference on Information Technology in Medicine and Education, ITME 2023

作者： Peng, Houfu Xu, Lili Lu, Xing Xia, Daoxun Guizhou Normal University Guizhou Key Laboratory of Information and Computing Science Guiyang China School of Big Data and Computer Science Guizhou Normal University Guiyang China Guizhou Normal University Engineering Laboratory for Applied Technology of Big Data in Education Guiyang China

ISBN: (纸本)9798350319156

In recent years, person re-identification (Re-ID) as a widely studied computer vision task, has reached a saturation state under closed-world setting, which encourages researchers to further explore more realistic scenarios. Among them, person Re- Idin aerial imagery is proposed and improved due to its unique practical importance in public security. However, since the aerial person images are taken by unmanned aerial vehicles (UAV s), influenced by camera height and angle of view, there are more serious problems such as weak appearance feature and occlusion than ground person images. Most of the current state-of-the-art person Re-ID methods on closed-world datasets are based on local convolution neural network, and hardly works well when applying them to aerial person Re- Idtasks directly. In this paper, we improve the emerging vision transformer (ViT) and apply it to the person Re- Idin aerial imagery. It should be noted that a large amount of data is required to be pretrained for ViTs to achieve competitive performance. Considering the limitations of data, computing power and flexibility in practical scenarios, we improve the pre-training process based on self-supervised learning, and achieve training ViTs from scratch with limited data. Specifically, in pre-training stage, the self-supervised paradigm based on parameter instance discrimination is applied to capture feature alignment and instance similarity, which alleviates the data-hungry of ViTs caused by the lack of inductive bias. Extensive comparative evaluation experiments are conducted on the aerial Re- Iddataset. Our method achieves a Rank-1 accuracy of 65.29% and a mean average precision (mAP) of 57.31%, which proves its effectiveness in aerial person Re-ID tasks. © 2023 IEEE.

关键词： Antennas

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Improving Classroom Quality by Analyzing Student Behaviors Through Computer Vision 4

Improving Classroom Quality by Analyzing Student Behaviors T...

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4th International Conference on Information Science and Education, ICISE-IE 2023

作者： Chen, Xiaopan Li, Boyuan Zhu, Xiaoke Zhang, Tao School of Computer and Information Engineering Henan University Kaifeng China Henan Engineering Research Center of Intelligent Technology Henan University Kaifeng China Henan University Henan Key Laboratory of Big Data Analysis and Processing Kaifeng China

ISBN: (纸本)9798350394610

This paper aims to enhance the efficiency of teaching and learning by leveraging computer vision technology for automated analysis of student behavior in the classroom. We propose a feature-enhanced method for recognizing student behavior, which integrates an Upsampling module (UPS) and a convolutional block layer (CBL) module into the YOLOv5 model. This innovative approach significantly improves the detection and feature extraction capabilities for student targets, effectively addressing challenges associated with small-sized targets and lowresolution images. Through algorithm optimization, it achieves a balance in sample diversity, enhancing the model's adaptability and generalizability in complex classroom environments. Building upon these technological advancements, we have developed a Classroom Student Posture Perception System (CSP2S). This system integrates functions for data collection, student behavior detection, and result visualization. The CSP2S operates in realtime by capturing and analyzing students' behavioral dynamics while providing teachers with immediate feedback. Experimental results demonstrate that this system substantially reduces teachers' workload in student assessment, offering significant potential to improve teaching effectiveness. These robust technical advancements provide strong support for future applications in real educational environments. © 2023 IEEE.

关键词： Students

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arXiv

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arXiv 2025年

作者： Li, Yangning Kang, Hui Li, Jiahui Sun, Geng Sun, Zemin Wang, Jiacheng Zhao, Changyuan Niyato, Dusit College of Computer Science and Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China College of Computer Science and Technology Jilin University Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China College of Computing and Data Science Nanyang Technological University 639798 Singapore College of Computing and Data Science Nanyang Technological University Singapore

An expansion of Internet of Things (IoTs) has led to significant challenges in wireless data harvesting, dissemination, and energy management due to the massive volumes of data generated by IoT devices. These challenges are exacerbated by data redundancy arising from spatial and temporal correlations. To address these issues, this paper proposes a novel data-driven collaborative beamforming (CB)-based communication framework for IoT networks. Specifically, the framework integrates CB with an overlap-based multi-hop routing protocol (OMRP) to enhance data transmission efficiency while mitigating energy consumption and addressing hot spot issues in remotely deployed IoT networks. Based on the data aggregation to a specific node by OMRP, we formulate a node selection problem for the CB stage, with the objective of optimizing uplink transmission energy consumption. Given the complexity of the problem, we introduce a softmax-based proximal policy optimization with long-short-term memory (SoftPPO-LSTM) algorithm to intelligently select CB nodes for improving transmission efficiency. Simulation results show that the proposed OMRP improves network lifetime by 17% compared to benchmark routing protocols, while the SoftPPO-LSTM method for CB node selection achieves an 8.3% increase in throughput over benchmark algorithms. The results also reveal that the combined OMRP with the SoftPPO- Copyright © 2025, The Authors. All rights reserved.

关键词： Deep reinforcement learning

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Travel Characteristics and Combination Choice Behavior Modeling of Passengers under the Influence of Epidemic Prevention Policies 24

Travel Characteristics and Combination Choice Behavior Model...

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24th COTA International Conference of Transportation Professionals: Resilient, Intelligent, Connected, and Lowcarbon Multimodal Transportation, CICTP 2024

作者： Zhang, Yue Dong, Chunjiao Li, Penghui Dong, Qianru Key Laboratory of Transport Industry of Big Data Application Technologies for Comprehensive Transport School of Traffic and Transportation Beijing Jiaotong Univ. Beijing China State Key Laboratory of Intelligent Vehicle Safety Technology China Automotive Engineering Research Institute Co. Ltd. Chongqing China

ISBN: (数字)9780784485484

ISBN: (纸本)9780784485484

The intermodal travel characteristics and combination selection behaviors of passengers are key issues to providing reasonable, efficient, and safe solutions, ensuring the traffic order, and improving quality. With the Beijing Winter Olympics as a background, by combining the Stated Preference and Revealed Preference surveys, the research develops a decision-making behavior model based on nested logit to investigate the passenger travel choices. The impacts of individual attributes, epidemic prevention policies, and preferential measures on the choice of intermodal travel, as well as the combination of departure time and travel mode, are studied. The results show that cultural and creative products have a significant impact on the combined travel choices. The cultural and creative products and consumer vouchers have a significant impact on the choice of intermodal travel. The research results can provide insights into traffic organization and management policies during large-scale events. © ASCE.

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An effective global learning framework for hyperspectral image classification based on encoder-decoder architecture

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International Journal of Digital Earth 2022年第1期15卷 1350-1376页

作者： Lanxue Dang Chongyang Liu Weichuan Dong Yane Hou Qiang Ge Yang Liu Henan Key Laboratory of Big Data Analysis and Processing Henan UniversityKaifengChina School of Computer and Information Engineering Henan UniversityKaifengChina Department of Geography Kent State UniversityKentOHUSA

Most deep learning methods in hyperspectral image(HSI)classification use local learning methods,where overlapping areas between pixels can lead to spatial redundancy and higher computational *** paper proposes an efficient global learning(EGL)framework for HSI *** EGL framework was composed of universal global random stratification(UGSS)sampling strategy and a classification model *** UGSS sampling strategy was used to solve the problem of insufficient gradient variance resulted from limited training *** fully extract and explore the most distinguishing feature representation,we used the modified linear bottleneck structure with spectral attention as a part of the BrsNet network to extract spectral spatial *** a type of spectral attention,the shuffle spectral attention module screened important spectral features from the rich spectral information of HSI to improve the classification accuracy of the ***,we also designed a double branch structure in BrsNet that extracted more abundant spatial information from local and global perspectives to increase the performance of our classification *** were conducted on three famous datasets,IP,PU,and *** with other classification methods,our proposed method produced competitive results in training time,while having a greater advantage in test time.

关键词： Deep learning global learning feature representation hyperspectral image classification spectral attention

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