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

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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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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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 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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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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Aero-Thermal Radiation Effects Simulation Technique for Star Sensor Imaging under Hypersonic Conditions

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IEEE Sensors Journal 2025年第12期25卷 21803-21813页

作者： Liu, Haonan Sun, Ting Yang, Kang Xing, Fei Wang, Xi Wu, Siyao Peng, Yicheng Tian, Ye Beijing Information Science and Technology University College of Instrument Science and Opto-electronics Engineering Laboratory of Intelligent Microsystems Beijing100192 China Tsinghua University Department of Precision Instrument Beijing100084 China Beijing Institute of Control and Electronic Technology Beijing100038 China

In order to investigate the effect of aero-thermal radiation on star sensor detection capability in near-space hypersonic flight platforms, this paper proposes a star sensor simulation imaging technique that couples aerodynamic flow field thermal radiation with target star signals. First, a regional conical imaging sampling model is constructed to preprocess the flow field data, significantly improving computational efficiency. Second, a radiation transfer equation for non-equilibrium flow fields is introduced to establish an energy transfer model based on the star sensor’s optical link. Finally, the detection performance of the star sensor under different flight conditions is quantitatively analyzed, and some simulation results are compared with flight test data for validation. The results indicate that the simulation model deviates by less than 30%. The method proposed in this paper provides important data and theoretical support for star sensor navigation accuracy analysis and extreme condition assessment. © 2001-2012 IEEE.

关键词： Radiation damage

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SUMI-IFL: An information-Theoretic Framework for Image Forgery Localization with Sufficiency and Minimality Constraints 39

SUMI-IFL: An Information-Theoretic Framework for Image Forge...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Sheng, Ziqi Lu, Wei Luo, Xiangyang Zhou, Jiantao Cao, Xiaochun School of Computer Science and Engineering MoE Key Laboratory of Information Technology Guangdong Province Key Laboratory of Information Security Technology Sun Yat-sen University China State Key Laboratory of Mathematical Engineering and Advanced Computing China State Key Laboratory of Internet of Things for Smart City Department of Computer and Information Science University of Macau China School of Cyber Science and Technology Shenzhen Campus of Sun Yat-sen University China

ISBN: (纸本)157735897X

Image forgery localization (IFL) is a crucial technique for preventing tampered image misuse and protecting social safety. However, due to the rapid development of image tampering technologies, extracting more comprehensive and accurate forgery clues remains an urgent challenge. To address these challenges, we introduce a novel information-theoretic IFL framework named SUMI-IFL that imposes sufficiency-view and minimality-view constraints on forgery feature representation. First, grounded in the theoretical analysis of mutual information, the sufficiency-view constraint is enforced on the feature extraction network to ensure that the latent forgery feature contains comprehensive forgery clues. Considering that forgery clues obtained from a single aspect alone may be incomplete, we construct the latent forgery feature by integrating several individual forgery features from multiple perspectives. Second, based on the information bottleneck, the minimality-view constraint is imposed on the feature reasoning network to achieve an accurate and concise forgery feature representation that counters the interference of task-unrelated features. Extensive experiments show the superior performance of SUMI-IFL to existing state-of-the-art methods, not only on in-dataset comparisons but also on cross-dataset comparisons. © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Correlation theory

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