检索结果-内蒙古大学图书馆

A Secure Clustering Protocol with Fuzzy Trust Evaluation and Outlier Detection for Industrial Wireless Sensor Networks

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Yang, Liu Lu, Yinzhi Yang, Simon X. Guo, Tan Liang, Zhifang The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing China The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada

Security is one of the major concerns in Industrial Wireless Sensor Networks (IWSNs). To assure the security in clustered IWSNs, this paper presents a secure clustering protocol with fuzzy trust evaluation and outlier detection (SCFTO). Firstly, to deal with the transmission uncertainty in an open wireless medium, an interval type-2 fuzzy logic controller is adopted to estimate the trusts. And then a density based outlier detection mechanism is introduced to acquire an adaptive trust threshold used to isolate the malicious nodes from being cluster heads. Finally, a fuzzy based cluster heads election method is proposed to achieve a balance between energy saving and security assurance, so that a normal sensor node with more residual energy or less confidence on other nodes has higher probability to be the cluster head. Extensive experiments verify that our secure clustering protocol can effectively defend the network against attacks from internal malicious or compromised nodes. © 2022, CC BY.

关键词： Uncertainty analysis

Design and 3D Printing of Lower Limb Prosthetic Socket *

学校读者我要写书评

暂无评论

Design and 3D Printing of Lower Limb Prosthetic Socket *

IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

Generative Adversarial Learning for Intelligent Trust Management in 6G Wireless Networks

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Yang, Liu Li, Yun Yang, Simon X. Lu, Yinzhi Guo, Tan Yu, Keping The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications China The School of Software Engineering Chongqing University of Posts and Telecommunications China The Advanced Robotics and Intelligent Systems Laboratory University of Guelph Canada The Hosei University Japan

Emerging six generation (6G) is the integration of heterogeneous wireless networks, which can seamlessly support anywhere and anytime networking. But high Quality-of-Trust should be offered by 6G to meet mobile user expectations. Artificial intelligence (AI) is considered as one of the most important components in 6G. Then AI-based trust management is a promising paradigm to provide trusted and reliable services. In this article, a generative adversarial learning-enabled trust management method is presented for 6G wireless networks. Some typical AI-based trust management schemes are first reviewed, and then a potential heterogeneous and intelligent 6G architecture is introduced. Next, the integration of AI and trust management is developed to optimize the intelligence and security. Finally, the presented AI-based trust management method is applied to secure clustering to achieve reliable and real-time communications. Simulation results have demonstrated its excellent performance in guaranteeing network security and service quality. © 2022, CC BY.

关键词： Wireless networks

Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Sihite, Eric Slezak, Filip Mandralis, Ioannis Salagame, Adarsh Ramezani, Milad Kalantari, Arash Ramezani, Alireza Gharib, Morteza The Department of Aerospace Engineering California Institute of Technology Pasadena United States The Silicon Synapse Labs Department of Electrical and Computer Engineering Northeastern University Boston United States The Robotics and Autonomous Systems DATA61 Csiro BrisbaneQLD4069 Australia The Jet Propulsion Laboratory Pasadena United States

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy efficient mode of locomotion in a given environment. The robotic biomimicry of this multi-modal locomotion capability can be very challenging but offer the same advantages. However, the expanded range of locomotion also increases the complexity of performing localization and path planning. In this work, we present our morphing multi-modal robot, which is capable of ground and aerial locomotion, and the implementation of readily available SLAM and path planning solutions to navigate a complex indoor environment. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

Vibrational Stabilization of Complex Network systems

学校读者我要写书评

暂无评论

Vibrational Stabilization of Complex Network Systems

American Control Conference (ACC)

作者： Alberto Maria Nobili Yuzhen Qin Carlo Alberto Avizzano Danielle S. Bassett Fabio Pasqualetti Department of Mechanical Engineering University of California Riverside Department of Excellence in Robotics and A.I. Scuola Superiore Sant’Anna Perceptual Robotics Laboratory at the IIM Institute Pisa Italy Department of Bioengineering the Department of Electrical & Systems Engineering the Department of Physics & Astronomy the Department of Psychiatry and the Department of Neurology University of Pennsylvania and the Santa Fe Institute Collaborative Research Network Aligning Science Across Parkinson’s (ASAP) Chevy Chase MD

Many natural and man-made network systems need to maintain certain patterns, such as working at equilibria or limit cycles, to function properly. Thus, the ability to stabilize such patterns is crucial. Most of the existing studies on stabilization assume that network systems’ states can be measured online so that feedback control strategies can be used. However, in many real-world scenarios, systems’ states, e.g., neuronal activity in the brain, are often difficult to measure. In this paper, we take this situation into account and study the stabilization problem of linear network systems with an open-loop control strategy—vibrational control. We derive a graph-theoretic sufficient condition for structural vibrational stabilizability, under which network systems can always be stabilized. We further provide an approach to select the locations in the network for control placement and design corresponding vibrational inputs to stabilize systems that satisfy this condition. Finally, we provide some numerical results that demonstrate the validity of our theoretical findings.

关键词：

Research on intrusion detection of industrial control system based on improved QPSO-SVM

学校读者我要写书评

暂无评论

Research on intrusion detection of industrial control system...

2022 International Conference on Electronic Information Technology, EIT 2022

作者： Yu, Yajie Liu, Xianda Wei, Weixuan Chen, Hengfei Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China College of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China

ISBN: (纸本)9781510655096

Intrusion detection technology can effectively evaluate the security state of the system. However, the accuracy of traditional intrusion detection methods still needs to be improved. Therefore, this paper proposed a SVM model based on improved QPSO. QPSO is used to optimize the hyperparameters of SVM to improve its accuracy. In addition, the shrinkage expansion coefficient in QPSO is improved to make QPSO adaptive. Experiment shows that the proposed algorithm has good performance. © 2022 SPIE. All rights reserved.

关键词： Intrusion detection

A Sim-to-Real Deep Learning-based Framework for Autonomous Nano-drone Racing

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Lamberti, Lorenzo Cereda, Elia Abbate, Gabriele Bellone, Lorenzo Morinigo, Victor Javier Kartsch Barcis, Michal Barcis, Agata Giusti, Alessandro Conti, Francesco Palossi, Daniele Department of Electrical Electronic and Information Engineering University of Bologna Italy Dalle Molle Institute for Artificial Intelligence USI-SUPSI Switzerland Autonomous Robotics Research Center Technology Innovation Institute United Arab Emirates Integrated Systems Laboratory ETH Zürich Switzerland

Autonomous drone racing competitions are a proxy to improve unmanned aerial vehicles’ perception, planning, and control skills. The recent emergence of autonomous nano-sized drone racing imposes new challenges, as their ∼10 cm form factor heavily restricts the resources available onboard, including memory, computation, and sensors. This paper describes the methodology and technical implementation of the system winning the first autonomous nano-drone racing international competition: the "IMAV 2022 Nanocopter AI Challenge." We developed a fully onboard deep learning approach for visual navigation trained only on simulation images to achieve this goal. Our approach includes a convolutional neural network for obstacle avoidance, a sim-to-real dataset collection procedure, and a navigation policy that we selected, characterized, and adapted through simulation and actual in-field experiments. Our system ranked 1st among seven competing teams at the competition. In our best attempt, we scored 115 m of traveled distance in the allotted 5-minute flight, never crashing while dodging static and dynamic obstacles. Sharing our knowledge with the research community, we aim to provide a solid groundwork to foster future development in this field. Copyright © 2023, The Authors. All rights reserved.

关键词： Drones

Vibrational Stabilization of Complex Network systems

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Nobili, Alberto Maria Qin, Yuzhen Avizzano, Carlo Alberto Bassett, Danielle S. Pasqualetti, Fabio The Department of Mechanical Engineering University of California Riverside United States The Perceptual Robotics Laboratory The IIM Institute Department of Excellence in Robotics and A.I. Scuola Superiore Sant’Anna Pisa Italy The Department of Bioengineering The Department of Electrical & Systems Engineering The Department of Physics & Astronomy The Department of Psychiatry The Department of Neurology University of Pennsylvania The Santa Fe Institute United States Collaborative Research Network Chevy ChaseMD United States

关键词： Linear networks

Distributed Optimization by Network Flows with Spatio-Temporal Compression

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria