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Genetic Fuzzy + PI Path Tracking Control of a Nonholonomic Mobile Robot*

Chinese Journal of Electronics 2023年第1期20卷 31-34页

作者： Zhengcai Cao Yingtao Zhao Qidi Wu College of Information Science and Technology Beijing University of Chemical Technology Beijing China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

A mobile robot is one of the well-known nonholonomic systems. The genetic fuzzy + PI path tracking control applied to a mobile robot is presented. The proposed controller composes of two fuzzy + PI controllers which are employed to control the angular velocity together, and one fuzzy + PI controller that is utilized to adjust the speed of mobile robot solely. Moreover, the fuzzy controller is designed to track reference path in approaching phase and PI controller is operated to diminish the tracking error in stable phase. In order to obtain better tracking performance, Genetic algorithm (GA) is used to optimize controller parameters. Finally, computer simulation results are given to illustrate the effectiveness of the proposed control scheme.

关键词： PI control Computer simulation Genetics Angular velocity Mobile robots Tuning Optimization

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A comparative study of redundant feature detection based feature selection methods

A comparative study of redundant feature detection based fea...

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International Conference on Computer, Information and Telecommunication systems (CITS)

作者： Xue-Qiang Zeng Qian-Sheng Chen Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China Computer Center Nanchang University Nanchang China

As a high dimensional problem, analysis of largescale data sets is a challenging task, where many weakly relevant or redundant features hurt generalization performance of classification models. In order to solve this problem, many effective feature selection methods have proposed to eliminate redundant features in recent years. However, the comparative performances of these redundant feature detection based methods have not been reported yet, which makes the choice of feature selection method relatively difficult for many real applications. The paper presents a novel comparative study of redundant feature detection based feature selection methods. Experiments on several benchmark data sets demonstrate the comparative performances of some state-of-the-arts methods. Based on the extensive empirical results, the minimum Redundancy-Maximum Relevance (mRMR) method has been found to be the best one among all compared feature selection models.

关键词： Breast Colon Lungs Redundancy

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A method to calculate recommendation trust of web services

Journal of Software Engineering

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Journal of Software Engineering 2014年第2期8卷 108-115页

作者： Liu, Wei Du, Yu-Yue Yan, Chun Sha, Jing College of Information Science and Engineering Shandong University of Science and Technology Qingdao China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

Web services are widely accepted and used in the e-commerce. Trust plays an important role in selecting one Web service for application among many services satisfying the demand of requesters and trust for Web services is a hot topic in research fields. This study proposes a method to calculate recommendation trust of Web services and the weight of every recommender is confirmed by norm grey correlation analysis method. The detailed process of the given method is revealed by a specific instance. The method avoids the vicious recommendation and improves the reliability of selected services. © 2014 Academic Journals Inc.

关键词： Web services

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Construction algorithms for index model based on Web page classification

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Journal of Computational Information systems 2014年第2期10卷 655-664页

作者： Zhang, Yangjie Yan, Chungang Wang, Pengwei Sun, Haichun Department of Computer Science and Technology Tongji University Shanghai 201804 China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China

Web pages on the Internet are massive, diverse, heterogeneous and redundant. How to organize and manage them effectively is an urgent problem. In this paper, we propose a method to index web pages and build an index model based on web page classification and hyperlink analysis. First, an initialization algorithm is given to construct an index model for an initial set of web pages. Then, considering the dynamics of web pages on the Internet, we propose an incremental updating algorithm which can update an index model incrementally. Through theoretical analysis, the complexity of proposed algorithms shows linear relationships with the scale of web pages and their growth. The experimental results show that initialization algorithm can construct an index model for a fixed number of web pages relatively fast, while the incremental updating algorithm can satisfy the update speed of web pages on the Internet. Thus, the proposed algorithms are feasible and effective. The constructed index model can provide supports for diversified information service systems to enable them to make better use of web resources and provide more valuable services to users. Copyright © 2014 Binary Information Press.

关键词： Websites

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A Location Privacy Preserving Scheme Based on Repartitioning Anonymous Region in Mobile Social Network

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Procedia Computer Science 2018年 129卷 368-371页

作者： Lina Ni Yanfeng Yuan Xiao Wang Mengmeng Zhang Jinquan Zhang College of Computer Science and Engineering Shandong University of Science and Technology Qingdao China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

Applying the proliferated location-based services (LBS) to social networks has spawned mobile social network (MSN) services that it allows users to discover potential friends around them. In this paper, we focus on the problem of location privacy preserving in MSN. Particularly, we propose a location privacy preserving (RPAR) scheme via to repartition anonymous region where the central anonymous location minimizes the traffic between the anonymous server and the LBS server while protecting the privacy of the user location.

关键词： Privacy preserving mobile social network location-based service location privacy anonymous region repartition

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Capacity and delay in mobile cognitive networks with random way-point mobility model

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AEU - International Journal of Electronics and Communications 2011年第4期65卷 288-295页

作者： Xingzhen Bai Shu Li Changjun Jiang Juan Xu Cheng Wang Lina Han The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 200092 China College of Information & Electrical Engineering Shandong University of Science & Technology Qingdao 266510China

We study the throughput and delay scaling laws of the mobile cognitive network. There are n primary users and m secondary users in the primary network and the secondary network, respectively. They are distributed uniformly and independently on the surface of a unit torus, moving according to the random way-point mobility model (RWMM). The primary users have priority to access the spectrum, and do not alter their protocol in the presence of the secondary network. The secondary users opportunistically use the licensed spectrum when it remains unused. Under the improved 2-hop relay policy, we derive the constant throughput of Θ ( 1 ) per primary source–destination (S–D) pair when the radius of the preservation region r p = Θ ( 1 / m ) . The expected delay scales as Θ ( n / v ( n ) ) , where v ( n ) is the average speed of the primary nodes. Moreover, if the secondary network is denser than the primary network, i.e., m = n γ with γ > 1 , the constant throughput of Θ ( 1 ) per secondary S–D pair and the expected delay of Θ ( m / v ( m ) ) can be derived surprisingly when the radius of the avoidance region r s = Θ ( 1 / n ) and r p = Θ ( 1 / m ) , where v ( m ) is the average speed of the secondary nodes.

关键词： Throughput Delay Scaling law Cognitive networks Mobility

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A novel discrete particle swarm optimization algorithm for meta-task assignment in heterogeneous computing systems

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Microprocessors and Microsystems 2011年第1期35卷 10-17页

作者： Qinma Kang Hong He The Key Laboratory of “Embedded System and Service Computing” Ministry of Education Tongji University Shanghai 201804 PR China School of Information Engineering Shandong University at Weihai Weihai 264209 PR China

Optimal assignment of a meta-task in heterogeneous computing systems is NP-complete in the general case. Therefore, heuristic approaches must be employed to find good solutions within a reasonable time. We propose a novel discrete particle swarm optimization (DPSO) algorithm for this problem. Firstly, to make particle swarm optimization algorithm more suitable for solving task assignment problems, particles are represented as integer vectors and a new position update method is developed based on discrete domain. Secondly, an effective variable neighborhood descent algorithm is applied to emphasize exploitation. In addition, migration mechanism is introduced with the hope to escape from possible local optimum and to balance the exploration and exploitation. Computational simulations and comparisons based on a set of benchmark instances indicate that the proposed DPSO algorithm is a viable approach for the task assignment problem.

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Hybrid Filtrations Recommendation system based on Privacy Preserving in Edge computing

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Procedia Computer Science 2018年 129卷 407-409页

作者： Lina Ni Hongdi Lin Mengmeng Zhang Jinquan Zhang College of Computer Science and Engineering Shandong University of Science and Technology Qingdao China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

It is challenging to design a secure recommendation system on the Internet which can help users to select their favorite products as less privacy leaked as possible. In this paper, we present a hybrid filtrations recommendation system based on privacy preserving in edge computing (HFRS-PP), which can prevent the users’ privacy information from being leaked via the merits of edge computing in the process of computing and ensure the real-time, accuracy and stability of the query results. Particularly, we propose a privacy-preserving recommendation algorithm to obtain the desired results for the end users through hybrid filtrations. The filtration-rough set theory algorithm is given to distinguish the valid reviews from spam reviews for the next filtration.

关键词： Privacy protection edge computing recommendation system rough set theory

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A Blockchain Based Automatic Access Scheme Design and Implement for Small Cell Base Station 21

A Blockchain Based Automatic Access Scheme Design and Implem...

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21st IEEE International Conference on Communication Technology, ICCT 2021

作者： Liang, Jingchao Wu, Jun Tan, Bin Ren, Haoqi Zhang, Zhifeng School of Computer Science and Technology Tongji University Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai China Fudan University School of Computer Science Shanghai China Jinggangshan University Electronics and Information Engineering Ji'an China Tongji University Electronics and Information Engineering Shanghai China

ISBN: (纸本)9781665432061

5G technology is constrained by its higher frequency band and smaller coverage area, which leads to the need for operators to use technologies such as small cell base stations to increase the density of base station deployment to ensure signal coverage quality, which leads to more enormous construction costs. Therefore, it is urgent to find a safe and reliable solution that can use the existing public network to realize small cell base stations with automatic access. Based on this demand, we summarize various existing small cell base station automatic access technology solutions and their advantages and disadvantages while combing the characteristics of blockchain technology and its application solutions in similar scenarios. And then, we propose a new blockchain-based base station automatic access solution and implements the system in a practical scenario. In our solution, we innovatively introduce blockchain as an intermediate manager for small base stations and core networks, which solves traditional solutions requiring customized equipment while ensuring safety and reliability. It reduces costs and improves efficiency, but some problems are brought by the 'decentralization' of blockchain waiting to be solved. © 2021 IEEE.

关键词： Blockchain

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Detecting vehicle target in SAR image with high moment

Detecting vehicle target in SAR image with high moment

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International Radar Symposium (IRS)

作者： Renzhou Gui Zhi Wang State Key Laboratory of Satellite Ocean Environment Dynamics The Key Laboratory of Embedded System and Service Computing Ministry of Eduction College of Electronics & Information Engineering Tongji University Shanghai China

Vehicle detection in SAR image is attractive field. High moments included numerous information is proposed to exploit in the field. It not only restrains Gaussian noise automatically, but also suppresses non-gaussian noise. Man-made targets in are different from the background clutter. Moreover, the influence of the shadow about man-made targets is reduced in the algorithm of high moments. We utilize high moments to avoid to analyst the complex scatter theory. By analyzing the relevent theory and practical calculated method of high order moments, we compare the difference of probability of detection between the target chip and clutter chip to achieve the goal of detection. Through processing lots of actual SAR data which is added different kinds of noise, we compare the performance between high order moments and low-order moments method.

关键词： Noise Vehicles Clutter Probability density function Object detection Graphics Moment methods

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