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Neural network-driven parallel accelerated selective image encryption with semantic understanding

The European Physical Journal Special Topics 2025年 1-16页

作者： Song, Wei Fu, Chong Zheng, Yu Chen, Junxin Zhang, Yanfeng School of Computer Science and Engineering Northeastern University Shenyang China Engineering Research Center of Security Technology of Complex Network System Ministry of Education Shenyang China University of California Irvine Irvine USA School of Software Dalian University of Technology Dalian China

Existing batch image encryption schemes often directly encrypt images without considering their source. However, in real-life scenarios, these images are typically part of a larger collection stored in a directory on a computer or in the cloud. To efficiently protect those sensitive images distributed within the collection, we rethink selective image encryption (SIE) from the perspective of batch image encryption and proposes a novel SIE scheme using deep neural networks (DNN) and parallel computing. First, a DNN method is employed to identify sensitive images by analyzing their semantics. Next, a parallel cross-bitplane permutation algorithm is introduced to shuffle the retrieved images in bit-level. Then, a bi-directional diffusion strategy is employed to spread the encryption influence of a pixel to all images. Experimental results demonstrate the proposed scheme effectively understands the semantic of images, identifies sensitive images, and encrypts them with high permutation and diffusion efficiency. Further security analyses show that the proposed algorithm successfully resists various attacks with desired performance, including achieving high information entropy and low correlation coefficients in statistical analysis, and ideal values of the number of pixels changing rate (NPCR) and the unified averaged changing intensity (UACI) to resist differential attack, as well as high key sensitivity.

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Human-Robot Collaborative Decision Method of Hexapod Robot Based on Prior Knowledge and Negotiation Strategy

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SSRN 2024年

作者： You, Bo Chen, Xiaolei Li, Jiayu Ding, Liang Dong, Zheng The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education Harbin University of Science and Technology Harbin150080 China The Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and Technology Harbin150080 China The Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Against the unstructured terrain environment, human drivers often rely on remote operating patterns to accomplish tasks with robots. With the gradual improvement in robot intelligence, a key problem that urgently requires attention is how to bridge cognitive and perceptual differences between human and robot in collaborative decision-making processes. Particularly effective resolution of differences in decision outcomes is crucial. Therefore, this paper utilizes the decision logic process and prior knowledge model of human drivers to form robot’s decision framework, narrowing the cognitive differences between human and robot. Besides, embedding the human-robot-environment features that affect the decision-making process as prior knowledge into the robot’s decision-making system can effectively reduce perceptual gaps. Under the same decision framework, a negotiation strategy is proposed for forming a unified decision outcome between human and robot by finding an optimal concession rate. This study utilizes a hexapod robot simulated driving platform to gather experimental data and develop prior knowledge for robots. It also leverages virtual reality equipment and visual augmentation technologies to establish a remote human-robot collaborative decision-making experimental system. The experimental results conducted in complex obstacle terrain demonstrate the effectiveness of adopting the negotiation strategy for human-robot collaborative decision-making. Compared with the individual human or robot decision, the human-robot collaborative decision method significantly enhances robot stability, reduces energy consumption, and minimizes collisions. © 2024, The Authors. All rights reserved.

关键词： Decision making

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Study on the Coupling Calculation Method for the Launch Dynamics of a Self-Propelled Artillery Multibody system Considering Engraving Process

SSRN

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SSRN 2024年

作者： Zhang, Shujun Yu, Hailong Rui, Xiaoting Dong, Xiao-Li Institute of Launch Dynamics Nanjing University of Science & Technology Nanjing210094 China National Key Laboratory of Complex Multibody System Dynamics Nanjing210094 China

As a new method and powerful tool for launch dynamics research, the launch dynamics theory for multibody systems can solve the problems of complex modeling, low computational efficiency, and inaccurate analysis of system dynamic response that exist in the dynamics research of complex multi-rigid-flexible body systems such as self-propelled artillery, so as to improve the firing accuracy and launch safety of the self-propelled artillery. In order to make up for the deficiency of ignoring the band engraving process in the theory, this paper innovatively proposes a coupling calculation method for the launch dynamics of a self-propelled artillery multibody system considering the band engraving process by using the ABAQUS subroutine interface VUAMP, and then calculates the dynamic response of the projectile and barrel in the launch process of large-caliber self-propelled artillery, furthermore, analyses the variation of the projectile resistance and the bands' deformation with the projectile motion during the band engraving process. Comparisons between the calculated results and the test data show that the method can describe the launch process of a self-propelled artillery more accurately and improve the calculation accuracy of the launch dynamics of a self-propelled artillery. © 2024, The Authors. All rights reserved.

关键词： Projectiles

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Estimation of smoke echo signal using single-photon lidar 13

Estimation of smoke echo signal using single-photon lidar

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13th International Conference on Information Optics and Photonics, CIOP 2022

作者： Zhang, Yinbo Li, Sining Sun, Jianfeng Jiang, Peng Zhou, Shuaijun Zhang, Xin Hou, Yue Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9781510660632

The non-uniform distribution of smoke and laser spot seriously limits the imaging ability of single-photon lidar through smoke. To this end, based on the collision theory between photons and smoke particles, this paper establishes the time-domain distribution model of scattered photons (Gamma), which considers the lidar system parameters and the characteristics of smoke particles. The shape parameter and inverse scale parameter are defined as the maximum scattering number K and the average scattering number β, respectively. The indoor test effectively illustrates the estimation ability of the model for smoke. The parameter estimation results show that the average scattering number β and the maximum scattering number K increase linearly with the increase of attenuation coefficient. This study is of great significance for the suppression of smoke backscattering and is expected to improve the weather adaptability of single-photon lidar. © 2022 SPIE.

关键词： Backscattering

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Optimal Trajectory Generation of UAV Considering Attitude Constraints

Optimal Trajectory Generation of UAV Considering Attitude Co...

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International Conference on Guidance, Navigation and Control, ICGNC 2020

作者： Liu, Chunjing Zhou, Hao Dong, Xiaofei Wang, Dongbin School of Astronautics Beihang University Beijing102206 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China School of Automation Science and Electrical Engineering Beihang University Beijing100083 China

ISBN: (纸本)9789811581540

The six degrees of freedom (6-DOF) trajectory planning of quadrotors with attitude constraints is studied. Based on active disturbance rejection control (ADRC) technology, a controller for quadrotors that can track both position and attitude is designed. Firstly, the nonlinear dynamic model of quadrotors is established. Next, the optimal trajectory with attitude constraints is solved under different performance indexes. Finally, based on ADRC method, a 6-DOF tracking control algorithm for quadrotors is designed. The control effect is simulated and compared with the traditional linear control method. The results indicate that ADRC method has superior control accuracy and stability for quadrotors with large attitude maneuvers. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Late Paleozoic–Early Mesozoic tectonic evolution of the Zongwulong Shan-Qinghai Nanshan tectonic belt in the northern Qaidam continent， northern Tibet

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Journal of Earth science 2025年

作者： Yonghui Zhao Chen Wu Jie Li Peter J.Haproff Lin Ding State Key Laboratory of Tibetan Plateau Earth System and Resources Environment (TPESRE)， Institute of Tibetan Plateau Research， Chinese Academy of Sciences University of Chinese Academy of Sciences Chongqing Key Laboratory of Complex Oil and Gas Field Exploration and Development， Chongqing University of Science and Technology Department of Earth and Ocean Sciences， University of North Carolina Wilmington

The Zongwulong Shan-Qinghai Nanshan tectonic belt of the northern Tibet Plateau experienced a protracted tectonic history， including the openings and closures of the Proto- and Paleo-Tethyan Oceans. Although the tectonic belt has been extensively studied， details regarding the tectonic processes involved in its development remain controversial. To better constrain the tectonic processes of this tectonic belt， we conducted detailed field geological mapping， zircon U-Pb geochronology， and whole-rock geochemical and Sr-Nd isotopic analyses. Our results show that intrusive rocks in the tectonic belt crystallized in ca. 292–233 Ma， perhaps in an arc/subduction setting. Geochemical and Sr-Nd isotopic data suggest that early Permian–late Triassic ultramafic-intermediate intrusions were sourced from the enriched mantle， whereas intermediate-acidic rocks were sourced from mixed crust-mantle. We present the tectonic model that involves: (1) Early Devonian–early Permian intracontinental extension occurred in the northern margin of the Qaidam continent (ca. 416 Ma–292 Ma); (2) Early Permian–late Triassic northward subduction of the Paleo-Tethyan Ocean resulted in arc magmatism (ca. 292 Ma–233 Ma); and (3) subsequent late Triassic intracontinental extension (ca. 233 Ma–215 Ma). Our results suggest that the late Paleozoic–early Mesozoic development of the Zongwulong Shan-Qinghai Nanshan was related to the opening， subduction， and slab retreat of the Paleo-Tethyan Ocean， which has key implications for the tectonic evolution of the northern Tibetan Plateau.

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Antenna Position and Power Allocation Design for Shared Aperture Sparse Linear Array 10

Antenna Position and Power Allocation Design for Shared Aper...

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10th International Conference on Control, Automation and Information sciences, ICCAIS 2021

作者： Liu, Ruitao Wei, Wenqiang Yu, Xianxiang Lu, Qinghui Cui, Guolong Fang, Xueli Zhang, Lei University of Electronic Science and Technology of China Chengdu China Key Laboratory of Complex Aeronautical System Simulation Beijing China

ISBN: (纸本)9781665440295

This paper considers the joint design of the antenna position and power allocation in a shared aperture sparse phased array. We introduce a new optimization model relying on the minimization of the Peak Sidelobe Levels (PSL) of beampattern under the antenna position constraints, mainlobe constraints and transmit power constraints. In order to tackle the non-convex problem, we resort to a Modified Membrane Algorithm based on P systems (MMAPS) along with its each iteration executed in parallel. Finally, numerical simulations verify the effectiveness of the proposed algorithm. The results highlight that MMAPS can obtain a better beampattern in terms of the PSL in comparison with the available methods. © 2021 IEEE.

关键词： Iterative methods

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DOA Estimation of Distributed mmWave Radar system via Fast Iterative Adaptive Approach 10

DOA Estimation of Distributed mmWave Radar System via Fast I...

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10th International Conference on Control, Automation and Information sciences, ICCAIS 2021

作者： Wei, Wenqiang Liu, Ruitao Yu, Xianxiang Lu, Qinghui Cui, Guolong Fang, Xueli Zhang, Lei University of Electronic Science and Technology of China Chengdu China Key Laboratory of Complex Aeronautical System Simulation Beijing China

ISBN: (纸本)9781665440295

In this paper, we propose a fast algorithm based on iterative adaptive approach to address the DOA estimation for the distributed mmWave radar system under the challenging conditions of a single snapshot and coherent sources. In order to improve angular resolution, let each transmit sensor emit the same signal in time-sharing to construct a large aperture virtual array. We first roughly derive azimuth angles with one mmWave radar using conventional beamforming. Then, resorting to iterative adaptive approach, we search for the accurate DOA estimations within a very small region based on the estimated azimuth to improve computational efficiency and angular resolution. Finally, numerical simulation results are provided to demonstrate superior performance of the proposed algorithm over some counterparts. © 2021 IEEE.

关键词： Computational efficiency

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Multi-Source Dynamic Time Series Data Processing Method Based on Comprehensive Weighted Fusion 12

Multi-Source Dynamic Time Series Data Processing Method Base...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： Geng, Huapin Yuan, Feimeng Suo, Bin Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China School of Mathematics Southwest Jiaotong University Chengdu China School of Information Engineering Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9781839538360

Aiming at the fusion problem of multi-source heterogeneous dynamic data sources, based on the subjective and objective comprehensive weighting idea, an efficient multi-source dynamic data fusion algorithm is proposed. First, the outlier detection method based on linear regression model is used to preprocess the multi-source dynamic time series data. Then, determine the weight of the dynamic data. The prior weight of the data source is determined by the AHP method, cyclic scoring method, etc., and the posterior weight is determined according to the similarity between the time series data. Based on the Euclidean distance, a similarity measure between different data sources and a similarity measure between different dynamic data samples are constructed respectively. The former is used for the fusion of dynamic data standard deviation expectations, and the latter is used for the fusion of mean expectations. Finally, the comprehensive weight of each dynamic time series of each data source is obtained, and the comprehensive weighted fusion method is used to obtain the expected value and standard deviation of the dynamic response. The analysis of the calculation example shows that the proposed algorithm has higher computational efficiency than the method that treats dynamic data as several discrete static data. © 2022 IEEE.

关键词： Data fusion

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