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Research Progress on Bionic Water Strider Robots

Journal of Bionic Engineering 2024年第2期21卷 635-652页

作者： Jianhao Liu Mingjun Shen Ziqiang Ma Xinping Zhou School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan430074China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Biological water striders have advantages such as flexible movement,low disturbance to the water surface,and low *** have developed a large number of biomimetic water strider robots based on their movement mechanism,which have broad application prospects in water quality testing,water surface reconnaissance,and *** article mainly reviews the research progress of biomimetic water strider ***,the biological and kinematic characteristics of water striders are outlined,and some mechanical parameters of biological water striders are *** basic equations of water strider movement are then ***,an overview is given of the past and current work on skating and jumping movements of biomimetic water strider robots based on surface tension and water pressure *** on the current research status of biomimetic water strider robots,the shortcomings of current research on biomimetic water striders are summarized,and the future development of biomimetic water strider robots is *** article provides new insights for the design of biomimetic water strider robots.

关键词： Bionics Water strider Robot Motion of robots on water surface

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Automatic collaborative water surface coverage and cleaning strategy of UAV and USVs

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Digital Communications and Networks 2025年第2期11卷 365-376页

作者： Tianping Deng Xiaohui Xu Zeyan Ding Xiao Xiao Ming Zhu Kai Peng School of Electronic Information and Communications Huazhong University of Science and TechnologyWuhan430074China Hubei Key Laboratory of Smart Internet Technology Huazhong University of Science and TechnologyWuhan430074China

As the problem of surface garbage pollution becomes more serious,it is necessary to improve the efficiency of garbage inspection and picking rather than traditional manual *** to lightness,Unmanned Aerial Vehicles(UAVs)can traverse the entire water surface in a short time through their flight field of *** addition,Unmanned Surface Vessels(USVs)can provide battery replacement and pick up *** this paper,we innovatively establish a system framework for the collaboration between UAV and USVs,and develop an automatic water cleaning ***,on the basis of the partition principle,we propose a collaborative coverage path algorithm based on UAV off-site takeoff and landing to achieve global ***,we design a task scheduling and assignment algorithm for USVs to balance the garbage loads based on the particle swarm optimization ***,based on the swarm intelligence algorithm,we also design an autonomous obstacle avoidance path planning algorithm for USVs to realize autonomous navigation and collaborative *** system can simultaneously perform inspection and clearance tasks under certain *** simulation results show that the proposed algorithms have higher generality and flexibility while effectively improving computational efficiency and reducing actual cleaning costs compared with other schemes.

关键词： UAV USVs Collaborative cleaning Path planning Coverage Autonomous obstacle avoidance

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Physical,mechanical and thermal properties of vacuum sintered HUST-1 lunar regolith simulant

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International Journal of Mining science and technology 2024年第9期34卷 1243-1257页

作者： Wenbin Han Yan Zhou Lixiong Cai Cheng Zhou Lieyun Ding National Center of Technology Innovation for Digital Construction Huazhong University of Science and TechnologyWuhan 430074China School of Civil and Hydraulic Engineering Huazhong University of Science and TechnologyWuhan 430074China School of Civil Engineering and Architecture Wuhan University of TechnologyWuhan 430070China

Establishing a base on the Moon is one of the new goals of human lunar exploration in recent *** lunar regolith is one of the most potential building materials for lunar *** physical,mechanical and thermal properties of sintered lunar regolith are vital performance indices for the structural design of a lunar base and analysis of many critical mechanical and thermal *** this study,the HUST-1 lunar regolith simulant(HLRS)was sintered at 1030,1040,1050,1060,1070,and 1080℃.The effect of sintering temperature on the compressive strength was investigated,and the exact value of the optimum vacuum sintering temperature was determined between 1040 and 1060℃.Then,the microstructure and material composition of vacuum sintered HLRS at different temperatures were *** was found that the sintering temperature has no significant effect on the mineral composition in the temperature range of 1030-1080℃.Besides,the heat capacity,thermal conductivity,and coefficient of thermal expansion(CTE)of vacuum sintered HLRS at different temperatures were *** heat capacity of sintered samples increases with the increase of test temperature within the temperature range from-75 to 145℃.Besides,the thermal conductivity of the sintered sample is proportional to ***,the two temperatures of 1040 and 1050℃were selected for a more detailed study of mechanical *** results showed that compressive strength of sintered sample is much higher than tensile *** study reveals the effects of sintering temperature on the physical,mechanical and thermal properties of vacuum sintered HLRS,and these material parameters will provide support for the construction of future lunar bases.

关键词： Lunar base Lunar regolith simulant Vacuum sintering Physical properties Mechanical properties Thermal properties

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Optimizing B^(+)-tree for hybrid memory with in-node hotspot cache and eADR awareness

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Frontiers of computer science 2024年第5期18卷 133-145页

作者： Peiquan JIN Zhaole CHU Gaocong LIU Yongping LUO Shouhong WAN School of Computer Science and Technology University of Science and Technology of ChinaHefei 230027China

he advance in Non-Volatile Memory(NVM)has changed the traditional *** to DRAM,NVM has the advantages of nonvolatility and large ***,as the read/write speed of NVM is still lower than that of DRAM,building DRAM/NVM-based hybrid memory systems is a feasible way of adding NVM into the current computer *** paper aims to optimize the well-known B^(+)-tree for hybrid *** novelty of this study is ***,we observed that the space utilization of internal nodes in B^(+)-tree is generally below 70%.Inspired by this observation,we propose to maintain hot keys in the free space within internal nodes,yielding a new index named HATree(Hotness-Aware Tree).The new idea of HATree is to use the unused space of the parent of leaf nodes(PLNs)as the hotspot data ***,no extra space is needed,and the in-node hotspot cache can efficiently improve query ***,to further improve the update performance of HATree,we propose to utilize the eADR technology supported by the third-generation Intel Xeon Scalable Processors to enhance HATree with instant log persistence,which results in the new HATree-Log *** conduct extensive experiments on real hybrid memory architecture involving DRAM and Intel Optane Persistent Memory to evaluate the performance of HATree and *** state-of-the-art indices for hybrid memory,namely NBTree,LBTree,and FPTree,are included in the experiments,and the results suggest the efficiency of HATree and HATree-Log.

关键词： hybrid memory B^(+)-tree hotspot in-node cache eADR

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Learning from Heterogeneity: A Dynamic Learning Framework for Hypergraphs

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第6期6卷 1513-1528页

作者： Zhang, Tiehua Liu, Yuze Shen, Zhishu Ma, Xingjun Qi, Peng Ding, Zhijun Jin, Jiong Tongji University School of Computer Science and Technology Shanghai China Ant Group Shanghai China Wuhan University of Technology School of Computer Science and Artificial Intelligence Wuhan China Fudan University School of Computer Science Shanghai China Tongji University Department of Control Science and Engineering Shanghai China Swinburne University of Technology School of Science Computing and Engineering Technologies Melbourne Australia

Graph neural network (GNN) has gained increasing popularity in recent years owing to its capability and flexibility in modeling complex graph structure data. Among all graph learning methods, hypergraph learning is a technique for exploring the implicit higher-order correlations when training the embedding space of the graph. In this paper, we propose a hypergraph learning framework named Learning from Heterogeneity (LFH) that is capable of dynamic hyperedge construction and attentive embedding update utilizing the heterogeneity attributes of the graph. Specifically, in our framework, the high-quality features are first generated by the pairwise fusion strategy that utilizes explicit graph structure information when generating initial node embedding. Afterwards, a hypergraph is constructed through the dynamic grouping of implicit hyperedges, followed by the type-specific hypergraph learning process. To evaluate the effectiveness of our proposed framework, we conduct comprehensive experiments on several popular datasets with twelve state-of-the- art models on both node classification and link prediction tasks, which fall into categories of homogeneous pairwise graph learning, heterogeneous pairwise graph learning, and hypergraph learning. The experiment results demonstrate a significant performance gain (an average of 12.9% in node classification and 12.8% in link prediction) compared with recent state-of-the-art methods. © 2020 IEEE.

关键词： Contrastive Learning

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Task-specific Part Discovery for Fine-grained Few-shot Classification

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Machine Intelligence Research 2024年第5期21卷 954-965页

作者： Yongxian Wei Xiu-Shen Wei School of Computer Science and Technology Nanjing University of Science and TechnologyNanjing210094China

Localizing discriminative object parts(e.g.,bird head)is crucial for fine-grained classification tasks,especially for the more challenging fine-grained few-shot *** work always relies on the learned object parts in a unified manner,where they attend the same object parts(even with common attention weights)for different few-shot episodic *** this paper,we propose that it should adaptively capture the task-specific object parts that require attention for each few-shot task,since the parts that can distinguish different tasks are naturally *** for a few-shot task,after obtaining part-level deep features,we learn a task-specific part-based dictionary for both aligning and reweighting part features in an ***,part-level categorical prototypes are generated based on the part features of support data,which are later employed by calculating distances to classify query data for *** retain the discriminative ability of the part-level representations(i.e.,part features and part prototypes),we design an optimal transport solution that also utilizes query data in a transductive way to optimize the aforementioned distance calculation for the final *** experiments on five fine-grained benchmarks show the superiority of our method,especially for the 1-shot setting,gaining 0.12%,8.56%and 5.87%improvements over state-of-the-art methods on CUB,Stanford Dogs,and Stanford Cars,respectively.

关键词： Fine-grained image recognition few-shot learning transductive learning visual dictionary part feature discovery

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Privacy-preserving filtering, control and optimization for industrial cyber-physical systems

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science China(Information sciences) 2025年第4期68卷 267-283页

作者： Derui DING Qing-Long HAN Xiaohua GE Xian-Ming ZHANG Jun WANG Department of Control Science and Engineering University of Shanghai for Science and Technology School of Engineering Swinburne University of Technology Department of Computer Science City University of Hong Kong

Industrial cyber-physical systems closely integrate physical processes with cyberspace, enabling real-time exchange of various information about system dynamics, sensor outputs, and control decisions. The connection between cyberspace and physical processes results in the exposure of industrial production information to unprecedented security risks. It is imperative to develop suitable strategies to ensure cyber security while meeting basic performance *** the perspective of control engineering, this review presents the most up-to-date results for privacy-preserving filtering,control, and optimization in industrial cyber-physical systems. Fashionable privacy-preserving strategies and mainstream evaluation metrics are first presented in a systematic manner for performance evaluation and engineering *** discussion discloses the impact of typical filtering algorithms on filtering performance, specifically for privacy-preserving Kalman filtering. Then, the latest development of industrial control is systematically investigated from consensus control of multi-agent systems, platoon control of autonomous vehicles as well as hierarchical control of power systems. The focus thereafter is on the latest privacy-preserving optimization algorithms in the framework of consensus and their applications in distributed economic dispatch issues and energy management of networked power systems. In the end, several topics for potential future research are highlighted.

关键词： industrial cyber-physical systems privacy preservation distributed control distributed optimization power systems

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Armoring hydrophilic wood-structured ultrathick electrode with bimetallic nitride enables high energy-density supercapacitor

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Green Energy & Environment 2025年第2期10卷 345-357页

作者： Nannan Ming Jikun Xu Jingfang Lei Cankun Hu Kaifu Huo Institute of Advanced Materials and Nanotechnology School of Chemistry and Chemical EngineeringWuhan University of Science and TechnologyWuhan430081China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan430074China

Thick electrodes can reduce the ratio of inactive constituents in a holistic energy storage system while improving energy and power ***,traditional slurry-casting electrodes induce high-tortuous ionic diffusion routes that directly depress the capacitance with a thickening *** overcome this,a novel 3D low-tortuosity,self-supporting,wood-structured ultrathick electrode(NiMoN@WC,a thickness of~1400 mm)with hierarchical porosity and artificial array-distributed small holes was constructed via anchoring bimetallic nitrides into the monolithic wood *** the embedded NiMoN nanoclusters with well-designed geometric and electronic structure,the vertically low-tortuous channels,enlarged specific surface area and pore volume,superhydrophilic interface,and excellent charge conductivities,a superior capacitance of NiMoN@WC thick electrodes(~5350 mF cm^(-2)and 184.5 F g^(-1))is achieved without the structural *** especial,monolithic wood carbons with gradient porous network not only function as the high-flux matrices to ameliorate the NiMoN loading via cell wall engineering but also allow fully-exposed electroactive substance and efficient current collection,thereby deliver an acceptable rate capability over 75%retention even at a high sweep rate of 20 mA cm^(-2).Additionally,an asymmetric NiMoN@WC//WC supercapacitor with an available working voltage of 1.0-1.8 V is assembled to demonstrate a maximum energy density of~2.04 mWh cm^(-2)(17.4 Wh kg^(-1))at a power density of 1620 mW cm^(-2),along with a decent long-term lifespan over 10,000 charging-discharging *** a guideline,the rational design of wood ultrathick electrode with nanostructured transition metal nitrides sketch a promising blueprint for alleviating global energy scarcity while expanding carbon-neutral technologies.

关键词： Wood-structured thick electrode Supercapacitors Transition metal nitrides Low tortuosity

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Modulation of suprathermal electron fluxes by ultra-low-frequency magnetic field fluctuations in the Martian foreshock

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Earth and Planetary Physics 2025年第2期9卷 357-365页

作者： TaiFeng Jin BinBin Ni Song Fu XiaoTong Yun ShuYue Pang MinYi Long QiongYue Zhang Nan Wang XinJie Xiong YiBin Zhao FangFei Shi School of Earth and Space Science and Technology Wuhan UniversityWuhan 430072China

Ultra-low-frequency(ULF) waves are ubiquitous in terrestrial and planetary environments, playing a crucial role in energy transfer and dissipation through wave–particle interactions within space plasmas. By performing a detailed event study in terms of particle distribution maps and wave–particle variable correlation maps, we report that ULF waves observed by the Mars Atmosphere and Volatile EvolutioN(MAVEN) spacecraft in the Martian foreshock can effectively modulate the suprathermal electron fluxes by the magnetic field fluctuations. In particular, the variations in electron fluxes at energies of ~10–100 eV are significant in the perpendicular direction, showing good relationships with changes in the wave field strength characterized by a correlation coefficient ~0.8. These findings demonstrate the generality of interactions of ULF waves with electrons, even at these low energies, highlighting the importance of such processes throughout the heliosphere.

关键词： Martian foreshock ULF waves electron modulation

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FEA-Sketch: flow entries assisted sketch for heavy flow detection in software-defined networking

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science China(Information sciences) 2025年第3期68卷 80-94页

作者： Xiaocan WU He HUANG Yang DU Yu-E SUN Yifan HAN School of Computer Science and Technology Soochow University School of Rail Transportation Soochow University

Software-defined networking decouples the control plane from the data plane to enable centralized flow-level network management, while requiring periodically collecting traffic statistics from the data plane to enforce optimal management. As one of the most important traffic measurement tasks, heavy flow detection has received wide attention for its providing fundamental statistics in various practical applications. Existing studies have proposed sketch-based detection solutions to address the mismatch problem between massive traffic and limited high-speed memory resources for measurement in the data plane. However,they overlook the potential of integrating the flow table, where each entry simultaneously enforces forwarding rules for specific flows and records flow statistics into the sketch design, leading to redundant measurement between the flow table and sketch and being unable to utilize their statistics to jointly enhance estimation accuracy. We propose flow entries assisted sketch(FEA-Sketch) in this work, which employs a differentiated flow recording strategy to record flow statistics jointly using the flow table and sketch for memory-efficient and computationally efficient heavy flow detection. We also propose an optimization-based estimation algorithm to accurately recover per-flow sizes for the flows that only have aggregated statistics due to the sharing of entries in the table(or counters in the sketch). We extend the FEA-Sketch to the distributed measurement setting with a hop-based collaborative measurement strategy, which reduces the measurement workload on switches across the network by avoiding redundant measurements. The experimental results on real Internet traces show that the accuracy of heavy flow detection is improved up to 1.95 times, and the bias of flow size estimation is improved up to 2.99 times, demonstrating that integrating flow entries can significantly improve the performance of heavy flow detection.

关键词： software-defined networking traffic measurement heavy flow flow table sketch

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