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IEEE International Conference on Engineering of Complex Computer Systems

作者： Xin Wang Zhi-Chang Qi Shuhao Li National Laboratory for Parallel and Distributed Processing Changsha China National Lab. for Parallel & Distributed Process. Changsha China

Test oracles are widely used to verify whether a system under test is running as desired. Since the correctness of real-time systems depends on the logical results of the computation and the time when results are produced at the same time, an optimized model checking-based method for test oracles generation is proposed to check if the system traces satisfy their real-time specifications at run time. Inspired by the idea of real-time model checking, the test oracles can be automatically generated from their specifications in the real-time logic MITL/sub [o,d]/ in a simpler way and modelled by a variant of the timed automata. Assertions are chosen to acquire the traces of real-time systems. A case study is presented to demonstrate the usefulness of the method proposed in this paper.

关键词： Optimization methods Automatic testing Real time systems System testing Software testing Laboratories Logic testing Automata Aerospace testing distributed processing

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Large-scale network topology generation for emulation environment

Large-scale network topology generation for emulation enviro...

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1st International Conference on Networking and distributed Computing, ICNDC 2010

作者： Kuang, Xiao-Hui Huang, Min-Huan Che, Yong-Gang Jin, Li Fei, Xu National Key Laboratory of Science and Technology on Information System Security Beijing Institute of System and Engineering Beijing China Department of Computer Science and Technology Tsinghua University Beijing China National Laboratory for Parallel and Distributed Process National University of Defense Technology Changsha China

ISBN: (纸本)9780769542072

Network emulation environment is great importance to the research of network protocols, applications and security mechanism. Large-scale network topology generation is one of key technologies to construct network emulation environment. In this paper, a new large-scale network topology generation framework called LSNTGF is proposed, which divides the network topology into three hierarchies: AS, router and terminal node. It contains the assignment mechanism to bandwidth of each link and IP address of each node. The framework is evaluate by implementation, and the result illustrate it is efficient to network emulation environment for network protocols and security research. © 2010 IEEE.

关键词： Network topology

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Property-oriented test generation from UML Statecharts 04

Property-oriented test generation from UML Statecharts

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IEEE International Conference on Automated Software Engineering (ASE)

作者： Shuhao Li Ji Wang Zhi-ChangQi National Laboratory for Parallel and Distributed Processing Changsha P.R. China National Lab. for Parallel & Distributed Process. Changsha China

ISBN: (纸本)0769521312

UML Statecharts is an important modeling formalism with hierarchy, concurrency, broadcast-communication mechanisms and data variables. These facilities help the developers to describe the complex behaviors of an object along its lifecycle naturally. However, the ease of modeling is at the expense of testing: the system developed from Statecharts usually has numerous behaviors and is therefore extremely difficult to receive comprehensive and in-depth testing. This work presents an approach to deriving targeted test sequences from UML Statecharts according to tester-specified temporal logic properties. Using this approach, testing efforts can be focused on specific properties of the system and usually only a small portion of the total behaviors will be tested. This method suits well the occasions when the testers are interested in just some specific properties of the system or when they have to focus on its critical properties in case that limited budget is available.

关键词： Unified modeling language Automatic testing Software testing Software engineering

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Design of an Indoor Exploration and Multi-Objective Navigation System 37

Design of an Indoor Exploration and Multi-Objective Navigati...

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37th Chinese Control Conference, CCC 2018

作者： Zheng, Guoxian Zhang, Lei Zhang, Huaxi Yulin Ding, Bo State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China MIS INSSET Universite de Picardie Jules Verne Amiens80039 France National Laboratory for Parallel and Distributed Processing National University of Defense Technology Changsha410008 China

ISBN: (纸本)9789881563941

In this paper, we propose an indoor robot autonomous navigation system. The robot firstly explores in an unknown environment, and then navigates autonomously by using the explored map. The robot is equipped a 2D laser scanner as the main sensor. The laser scanner is used for path planning and frontier-based exploration. A 2D global occupancy map is built for path planning, frontier-based exploration and multi-objective autonomous navigation. Laser scans are transmitted into Simultaneous Localization and Mapping (SLAM) process in the exploration phase. In indoor environment, the exploration efficiency is improved by merging a heuristic algorithm. By using multi-threading technology and a 3D perception approach proposed in this paper, the robot equipped with a low-cost RGBD sensor can detect all kinds of obstacles to achieve highly reliable navigation in complicated 3D environment. Meanwhile, we develop a multi-objective navigation application to make human-robot interaction more convenient and satisfy multi-task deployment. Our approaches are demonstrated by experimental results. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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Unsupervised Learning-based Depth Estimation aided Visual SLAM Approach

arXiv

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arXiv 2019年

作者： Geng, Mingyang Shang, Suning Ding, Bo Wang, Huaimin Zhang, Pengfei Zhang, Lei National Key Laboratory of Parallel and Distributed Processing College of Computer National University of Defense Technology China National Key Laboratory of Integrated Automation of Process Industry Northeastern University China

Existing visual-based SLAM systems mainly utilize the three-dimensional environmental depth information from RGB-D cameras to complete the robotic synchronization localization and map construction task. However, the RGB-D camera maintains a limited range for working and is hard to accurately measure the depth information in a far distance. Besides, the RGB-D camera will easily be influenced by strong lighting and other external factors, which will lead to a poor accuracy on the acquired environmental depth information. Recently, deep learning technologies have achieved great success in the visual SLAM area, which can directly learn high-level features from the visual inputs and improve the estimation accuracy of the depth information. Therefore, deep learning technologies maintain the potential to extend the source of the depth information and improve the performance of the SLAM system. However, the existing deep learning-based methods are mainly supervised and require a large amount of ground-truth depth data, which is hard to acquire because of the realistic constraints. In this paper, we first present an unsupervised learning framework, which not only uses image reconstruction for supervising but also exploits the pose estimation method to enhance the supervised signal and add training constraints for the task of monocular depth and camera motion estimation. Furthermore, we successfully exploit our unsupervised learning framework to assist the traditional ORB-SLAM system when the initialization module of ORB-SLAM method could not match enough features. Qualitative and quantitative experiments have shown that our unsupervised learning framework performs the depth estimation task comparably to the supervised methods and outperforms the previous state-of-the-art approach by 13.5% on KITTI dataset. Besides, our unsupervised learning framework could significantly accelerate the initialization process of ORB-SLAM system and effectively improve the accuracy on environme

关键词： Unsupervised learning

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Large-scale Network Topology Generation for Emulation Environment

Large-scale Network Topology Generation for Emulation Enviro...

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The First International Conference on Networking and distributed Computing(第一届网络与分布式计算国际会议 ICNDC 2010)

作者： Xu Fei Li Jin Kuang Xiao-hui Huang Min-huan Che Yong-gang National Key Laboratory of Science and Technology on Information System Security Beijing Institute National Key Laboratory of Science and Technology on Information System Security Beijing Institute National Laboratory for Parallel and Distributed Process National University of Defense Technology

Network emulation environment is great importance to the research of network protocols, applications and security mechanism. Large-scale network topology generation b one of key technologies to construct network emulation environment. In this paper, a new large-scale network topology generation framework called LSNTGF is proposed, which divides the network topology into three hierarchies: AS, router and terminal node. It contains the assignment mechanism to bandwidth of each link and IP address of each node. The framework is evaluate by implementation, and the result illustrate it is efficient to network emulation environment for network protocols and security research.

关键词： Large-scale network topology generation bandwidth assignment IP address assignment

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Design of an Indoor Exploration and Multi-Objective Navigation System

Design of an Indoor Exploration and Multi-Objective Navigati...

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第37届中国控制会议

作者： Guoxian Zheng Lei Zhang Huaxi (Yulin) Zhang Bo Ding State Key Laboratory of Synthetical Automation for Process Industries Northeastern University MIS and INSSET Universite de Picardie Jules Verne National Laboratory for Parallel and Distributed Processing National University of Defense Technology

In this paper,we propose an indoor robot autonomous navigation *** robot firstly explores in an unknown environment,and then navigates autonomously by using the explored *** robot is equipped a 2 D laser scanner as the main *** laser scanner is used for path planning and frontier-based exploration.A 2 D global occupancy map is built for path planning,frontier-based exploration and multi-objective autonomous *** scans are transmitted into Simultaneous Localization and Mapping（SLAM） process in the exploration *** indoor environment,the exploration efficiency is improved by merging a heuristic *** using multi-threading technology and a 3 D perception approach proposed in this paper,the robot equipped with a low-cost RGBD sensor can detect all kinds of obstacles to achieve highly reliable navigation in complicated 3 D ***,we develop a multi-objective navigation application to make human-robot interaction more convenient and satisfy multi-task *** approaches are demonstrated by experimental results.

关键词： Exploration Heuristic algorithm multi-threading technology 3D Perception Multi-objective navigation

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Design of an Indoor Exploration and Multi-Objective Navigation System

Design of an Indoor Exploration and Multi-Objective Navigati...

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Chinese Control Conference (CCC)

作者： Guoxian Zheng Lei Zhang Huaxi Yulin Zhang Bo Ding State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China MIS Universite de Picardie Jules Verne Amiens France National Laboratory for Parallel and Distributed Processing National University of Defense Technology Changsha China

关键词： Navigation Three-dimensional displays Robot sensing systems Lasers Path planning Two dimensional displays

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