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24th IEEE International Conference on Communication technology, ICCT 2024

作者： Zeng, Linzhou Liao, Xuewen Zhu, Yunzhe Ma, Zhangfeng Jiang, Hao Xi'an Jiaotong University Shaanxi Key Laboratory of Deep Space Exploration Intelligent Information Technology School of Information and Communications Engineering Xi'an710049 China Hunan Institute of Science and Technology School of Information Science and Engineering Yueyang414006 China Shaoyang University School of Information Science and Engineering Shaoyang422000 China Nanjing University of Information Science and Technology School of Artificial Intelligence Nanjing210044 China

ISBN: (纸本)9798350363760

The two-cylinder model and the two-sphere model are two widely-used geometrical channel models that are both the generalizations of the two-ring model;however, a comparative study between them seems to be missing in literature. In this paper, under the background of unmanned aerial vehicle (UAV) air-to-air propagation modeling, similarities and differences between the two geometry-based stochastic models (GBSMs) are analyzed by reviewing their respective closed-form space-time correlation functions (ST-CFs). Notably, some interesting properties of the ST-CFs are analytically obtained, which reveals the behaviors of the ST-CF with respect to several UAV-related parameters, including the moving directions and the antenna orientations. © 2024 IEEE.

关键词： Stochastic models

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A security control scheme based on quantum keys for IoT terminals

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International Journal of Security and Networks 2023年第3期18卷 189-198页

作者： Zhu, Dexin Du, Xiaogang Mao, Jigui Song, Lijun College of Computer Science and Technology Changchun University Changchun130022 China College of Science Changchun University Changchun130022 China Jilin Engineering Laboratory for Quantum Information Technology Changchun130062 China

With the development of computer technology and the continuous improvement of computing power, the security control of internet of things terminals has received great attention. This paper proposes a security control scheme based on quantum keys for the internet of things terminals. In the wide area network, the control commands between Alice and Bob are transmitted by quantum key encryption. In the local area network, Bob sends the decrypted plaintext to the LED microcontroller board to execute the control instruction. This paper also designs a two-way identity authentication scheme based on a hash function, a sliding window key synchronisation scheme, and an eavesdropping experiment. Through experiments, the quantum key encoding rate of the quantum key distribution system is 7.4 kbps, the average time for Alice to send instructions is 141.6 ms, the average time for Bob to decrypt instructions is 12.4 ms, and the average time for key synchronisation in the time sliding pane is 116 ms. Even after stealing Alice’s ciphertext data, Eve still cannot recover the plaintext data. The scheme realises the security control of the internet of things terminal. Copyright © 2023 Inderscience Enterprises Ltd.

关键词： Synchronization

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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

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Frontiers of Mechanical engineering 2024年第3期19卷 23-40页

作者： Qi LI Lei DING Xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China School of Computer Science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

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On convergence of covariance matrix of empirical Bayes hyper-parameter estimator

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Control Theory and technology 2024年第2期22卷 149-162页

作者： Yue Ju Biqiang Mu Tianshi Chen School of Data Science and Shenzhen Research Institute of Big Data The Chinese University of Hong KongShenzhenShenzhen518172GuangdongChina Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology10044StockholmSweden Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and System ScienceChinese Academy of SciencesBeijing100190China

Regularized system identification has become the research frontier of system identification in the past *** related core subject is to study the convergence properties of various hyper-parameter estimators as the sample size goes to *** this paper,we consider one commonly used hyper-parameter estimator,the empirical Bayes(EB).Its convergence in distribution has been studied,and the explicit expression of the covariance matrix of its limiting distribution has been ***,what we are truly interested in are factors contained in the covariance matrix of the EB hyper-parameter estimator,and then,the convergence of its covariance matrix to that of its limiting distribution is *** general,the convergence in distribution of a sequence of random variables does not necessarily guarantee the convergence of its covariance ***,the derivation of such convergence is a necessary complement to our theoretical analysis about factors that influence the convergence properties of the EB hyper-parameter *** this paper,we consider the regularized finite impulse response(FIR)model estimation with deterministic inputs,and show that the covariance matrix of the EB hyper-parameter estimator converges to that of its limiting ***,we run numerical simulations to demonstrate the efficacy of ourtheoretical results.

关键词： Regularized system identification Hyper-parameter estimator Empirical Bayes Convergence of covariance matrix

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Wavelet-Based Hybrid Ensemble Forecasting for Accurate Web Traffic Prediction 1

Wavelet-Based Hybrid Ensemble Forecasting for Accurate Web T...

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1st International Conference on Innovations in Communications, Electrical and Computer engineering, ICICEC 2024

作者： Manoj Kumar, M.V. Puneetha, B.H. Prashanth, B.S. Sneha, H.R. Patil, N.S. Ranjana, B.J. Nitte Meenakshi Institute of Technology Department of Information Science & Engineering Karnataka Bangalore560064 India Bapuji Institute of Engineering and Technology Department of Computer Science and Business Systems Karnataka Davanagere577004 India Bapuji Institute of Engineering and Technology Department of Information Science and Engineering Karnataka Davanagere577004 India Karnataka Davanagere577004 India

ISBN: (数字)9798350376517

ISBN: (纸本)9798350376517

This paper presents a novel approach for accurate web traffic prediction on the websites using a Wavelet-Based Hybrid Ensemble Forecasting method. The proposed method decomposes the web traffic time series into time-shifted discrete wavelets, enabling individual forecasting on each decomposed series. Four models - SARIMA, ARIMA, LSTM, and KNN - were evaluated, and their forecasts were combined in a hybrid ensemble model. Evaluation metrics such as accuracy percentage, MAE, RMSE, and MAPE were employed. The hybrid model exhibited superior performance, achieving an accuracy of 99.39%, along with the lowest MAE and RMSE values. Combining forecasts from multiple models significantly improved accuracy and reduced error rates in web traffic prediction. © 2024 IEEE.

关键词： Prediction models

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Worst-Case Integrity Attacks and Resilient State Estimation With Partially Secured Measurements

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IEEE Transactions on Control of Network systems 2025年第2期12卷 1769-1779页

作者： Zhou, Jing Shang, Jun Chen, Tongwen University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China

This paper examines the problem of optimal deception attacks against state estimation with partially secured measurements, where smart sensors transmit innovation sequences to the remote end for information fusion. Due to resource limitations or defensive countermeasures, the adversary can only modify data packets transmitted through unreliable channels. Meanwhile, the attack should be synthesized with sophistication to deceive an anomaly detector. To investigate the vulnerabilities of such estimation systems without feedback links and enhance security performance, the optimal attack policy is derived by formulating and explicitly solving a convex optimization problem, with the goal of maximizing the sum of estimation errors. Subsequently, a novel attack detection and resilient state estimation algorithm is proposed to ensure an acceptable level of estimation accuracy. The theoretical performance metrics, including false alarm rates for the proposed detector, are provided. Finally, the effectiveness of the results is confirmed through numerical examples. © 2014 IEEE.

关键词： Optimal detection

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The Seamless Connection Between Underwater and Terrestrial Communication for 6G 26

The Seamless Connection Between Underwater and Terrestrial C...

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26th International Conference on Advanced Communications technology, ICACT 2024

作者： Wu, Tin-Yu Chen, Yi-Kai Tey, Fu-Jie National Pingtung University of Science and Technology Department of Management Information Systems Pingtung Taiwan National Taiwan University of Science and Technology Department of Electrical Engineering Taipei Taiwan

ISBN: (纸本)9791188428120

Underwater communication was chiefly employed in military affairs and underwater exploration in the early days. In recent years, thanks to the progressive advancement of communication networks, many protocols have already been developed for underwater communication. However, due to technological factors, underwater communication is still looking for a seamless link to terrestrial communication. This paper proposes a novel frame format to improve the frame head of underwater communication, and presents a corresponding operation process of underwater nodes with the hope that the data link layer of the OSI 7-layer model provides the Media Access Control (MAC) protocol to the corresponding underwater network. This proposed method can be provided as a standard solution to create a seamless connection between underwater and terrestrial communication. © 2024 Global IT Research Institute - GIRI.

关键词： Head frames

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Enhancing undulation of soft robots in granular media:A numerical and experimental study on the effect of anisotropic scales

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Biomimetic Intelligence & Robotics 2024年第2期4卷 63-70页

作者： Longchuan Li Chaoyue Zhao Shuqian He Qiukai Qi Shuai Kang Shugen Ma College of Information Science and Technology Bejing University of Chemical TechnologyBejing 100029China School of Engineering Mathematics and Technology University of BristolBristol BS81THUK College of Mechanical and Electrical Engineering Beijing University of Chemical TechnologyBeijing 100029China Thrust of Robotics and Autonomous Systems The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 511453China

Generating efficient locomotion in granular media is important,although it is difficult for *** by the fact that sand vipers usually have saw-like scales,in this study,we design a soft undulation robot with tangential anisotropic friction to enhance the undulation performance of soft robots in granular media.A mathematical model was derived and numerical simulations were conducted accordingly to investigate the effectiveness of tangential friction anisotropy for undulation gait generation in granular *** particular,we introduce a pseudo-rigid-body dynamics model consisting of links and joints while simulating the pneumatic actuation method to more closely approximate the response of soft ***,a soft snake-like robot was fabricated,and its forward and reverse undulations were compared in two sets of controlled *** consistency between the experimental results and the numerical simulations confirms that tangential anisotropic friction induces a propulsive effect in undulation,thereby increasing the robot's locomotion *** discovery provides new insights into the design of undulation robots in granular environments.2024 The Author(s).Published by Elsevier *** behalf of Shandong *** is an open access articleunder the CCBY license(http://***/licenses/by/4.0/).

关键词： Granular media Anisotropicity Pseudo-rigid-body model Soft robot Undulation

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Enhancing Image Security with Rossler Attractor-Based Encryption 2

Enhancing Image Security with Rossler Attractor-Based Encryp...

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2nd International Conference on Cyber Resilience, ICCR 2024

作者： Al-Najjar, Hazem Al-Rousan, Nadia University Of Petra Faculty Of Information Technology Department Of Computer Science Amman Jordan German Jordanian University Faculty Of Electrical Engineering And Information Systems Department Of Computer Engineering Jordan

ISBN: (纸本)9798350394962

we introduced image encryption algorithms with high sensitivity, such that even a single alteration in a plain-text image would result in a complete transformation of the ciphered image. The first algorithm employed pixel values in a substitution approach, whereas the second algorithm utilized pixel values to generate chaotic function keys. Additionally, we employed a Rossler chaotic function with pixel data to generate chaotic values for the shuffling and substitution processes. After subjecting these algorithms to rigorous testing using standard metrics, our experiments revealed the efficiency of the algorithms in image encryption. Notably, even a minute change in the original image resulted in a vastly different ciphered image. These proposed algorithms underscored the effectiveness of integrating chaotic functions with pixel information, significantly enhancing image security. © 2024 IEEE.

关键词： Cryptography

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Learning-based tracking control of AUV:Mixed policy improvement and game-based disturbance rejection

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CAAI Transactions on Intelligence technology 2025年第2期10卷 510-528页

作者： Jun Ye Hongbo Gao Manjiang Hu Yougang Bian Qingjia Cui Xiaohui Qin Rongjun Ding State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangshaChina School of Information Science and Technology and Institute of Advanced TechnologyUniversity of Science and Technology of ChinaHefeiChina Nanyang Technological University SingaporeSingapore Wuxi Intelligent Control Research Institute of Hunan University Hunan UniversityWuxiChina

A mixed adaptive dynamic programming(ADP)scheme based on zero-sum game theory is developed to address optimal control problems of autonomous underwater vehicle(AUV)systems subject to disturbances and safe *** combining prior dynamic knowledge and actual sampled data,the proposed approach effectively mitigates the defect caused by the inaccurate dynamic model and significantly improves the training speed of the ADP ***,the dataset is enriched with sufficient reference data collected based on a nominal model without considering modelling ***,the control object interacts with the real environment and continuously gathers adequate sampled data in the *** comprehensively leverage the advantages of model-based and model-free methods during training,an adaptive tuning factor is introduced based on the dataset that possesses model-referenced information and conforms to the distribution of the real-world environment,which balances the influence of model-based control law and data-driven policy gradient on the direction of policy *** a result,the proposed approach accelerates the learning speed compared to data-driven methods,concurrently also enhancing the tracking performance in comparison to model-based control ***,the optimal control problem under disturbances is formulated as a zero-sum game,and the actor-critic-disturbance framework is introduced to approximate the optimal control input,cost function,and disturbance policy,***,the convergence property of the proposed algorithm based on the value iteration method is ***,an example of AUV path following based on the improved line-of-sight guidance is presented to demonstrate the effectiveness of the proposed method.

关键词： adaptive dynamic programming autonomous underwater vehicle game theory optimal control reinforcement learning

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