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Adaptive walking control of quadruped robots based on central pattern generator (CPG) and reflex

控制理论与应用（英文版） 2013年第3期11卷 386-392页

作者： Chengju LIU Qijun CHEN Guoxing WANG Department of Electronics and Information Engineering and Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University

This paper presents a central pattern generator （CPG） and vestibular reflex combined control strategy for a quadruped robot. An oscillator network and a knee-to-hip mapping function are presented to realize the rhythmic motion for the quadruped robot. A two-phase parameter tuning method is designed to adjust the parameters of oscillator network. First, based on the numerical simulation, the influences of the parameters on the output signals are analyzed, then the genetic algorithm （GA） is used to evolve the phase relationships of the oscillators to realize the basic animal-like walking pattern. Moreover, the animal＇s vestibular reflex mechanism is mimicked to realize the adaptive walking of the quadruped robot on a slope terrain. Coupled with the sensory feedback information, the robot can walk up and down the slope smoothly. The presented bio-inspired control method is validated through simulations and experiments with AIBO. Under the control of the presented CPG and vestibular reflex combined control method, AIBO can cope with slipping, falling down and walk on a slope successfully, which demonstrates the effectiveness of the proposed walking control method.

关键词： CPG Walking control Quadruped robot Vestibular reflex

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Geometric Algebra Multi-order Graph Neural Network for Traffic Prediction

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IEEE Transactions on Big Data 2024年第3期11卷 1-15页

作者： Zang, Di Cui, Zhe Wang, Zengqiang Lei, Juntao Ding, Yongjie Wei, Chenguang Zhang, Junqi Department of Computer Science and Technology and the Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China

Accurate traffic prediction is crucial for urban traffic management. Spatial-temporal graph neural networks, which combine graph neural networks with time series processing, have been extensively employed in traffic prediction. However, traditional graph neural networks only capture pairwise spatial relationships between road network nodes, neglecting high-order interactions among multiple nodes. Meanwhile, most work for extracting temporal dependencies suffers from implicit modeling and overlooks the internal and external dependencies of time series. To address these challenges, we propose a Geometric Algebraic Multi-order Graph Neural Network (GA-MGNN). Specifically, in the temporal dimension, we design a convolution kernel based on the rotation matrix of geometric algebra, which not only learns internal dependencies between different time steps in time series but also external dependencies between time series and convolution kernels. In the spatial dimension, we construct a tokenized hypergraph and integrate dynamic graph convolution with attention hypergraph convolution to comprehensively capture multi-order spatial dependencies. Additionally, we design a segmented loss function based on traffic periodic information to further improve prediction accuracy. Extensive experiments on seven real-world datasets demonstrate that GAMGNN outperforms state-of-the-art baselines IEEE

关键词： Graph neural networks

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Trainbow: a new trusted virtual machine based platform

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中国高等学校学术文摘·计算机科学 2010年第1期4卷 47-64页

作者： Yuzhong SUN Yongbing HUANG Yunwei GAO Haifeng FANG Ying SONG Lei DU Kai ZHANG Hongyong ZANG Yaqiong LI Yajun YANG Ran AO Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Graduate University of Chinese Academy of Sciences Beijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Graduate University of Chinese Academy of Sciences Beijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Department of Computer Science and Technology Xi'an Jiaotong University Xi'an 710049China Key Laboratory of Computer System and Architecture Institute of Computing TechnologyChinese Academy of Sciences Beijing 100190China Graduate University of Chinese Academy of Sciences Beijing 100190China

Currently, with the evolution of virtualization technology, cloud computing mode has become more and more popular. However, people still concern the issues of the runtime integrity and data security of cloud computing platform, as well as the service efficiency on such computing platform. At the same time, according to our knowledge, the design theory of the trusted virtual computing environment and its core system software for such network-based computing platform is at the exploratory stage. In this paper, we believe that efficiency and isolation are the two key proprieties of the trusted virtual computing environment. To guarantee these two proprieties, based on the design principle of splitting, customizing, reconstructing, and isolation-based enhancing to the platform, we introduce TRainbow, a novel trusted virtual computing platform developing by our research *** the two creative mechanisms, that is, capacity flowing amongst VMs and VM-based kernel reconstructing, TRainbow provides great improvements (up to 42%) in service performance and isolated reliable computing environment for Internet-oriented, large-scale, concurrent services.

关键词： computing platform virtual machine capacity service computing trust chain isolation

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Modeling and Risk Analysis of Cooperative Adaptive Cruise Control systems Based on Petri Nets and Distributed Edge Intelligence

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IEEE Internet of Things Journal 2025年

作者： Yu, Wangyang Cheng, Yumeng Fang, Xianwen Zhai, Xiaojun Wang, Yinglong Jing, Hongyuan Shaanxi Normal University Chang'an District Key Laboratory of Intelligent Computing and Service Technology for Folk Song Ministry of Culture and Tourism Xi'an710119 China Shaanxi Normal University School of Computer Science Chang'an District Xi'an710119 China Anhui University of Science and Technology Anhui Province Engineering Laboratory for Big Data Analysis and Early Warning Technology of Coal Mine Safety Anhui232001 China University of Essex School of Computer Science and Electronic Engineering Colchester United Kingdom Beijing Union University College of Robotics Beijing100101 China

Fueled by advancements in intelligent transportation systems, the Internet of Vehicles (IoV) seeks to connect smart vehicles, road infrastructure, and users into a unified network, enhancing traffic efficiency and reducing accident risks. Centralized cloud data collection raises concerns about privacy and communication overhead. To address these, Distributed Edge Intelligence (DEI) reduces transmission costs and improves privacy by implementing machine learning at the network edge. In this context, Cooperative Adaptive Cruise Control (CACC) systems, combined with DEI in the IoV framework, enhance transportation system intelligence through real-time data processing and decentralized decision-making. This paper proposes a modeling and analysis method for CACC systems based on Petri nets. The datasets are automatically generated using tools developed by our team, and machine learning methods are utilized to perform risk prediction analysis on the CACC model. From the perspective of Petri nets synchronization, we propose risk mitigation strategies from a design standpoint. The research results show that the proposed method significantly reduces signal accumulation and enhances synchronization in CACC systems. This improvement provides new theoretical support and technical guidance for the design and implementation of CACC systems, ultimately enhancing their safety and reliability. © 2025 IEEE.

关键词： Adaptive cruise control

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Few-Shot Photovoltaic Film Defect Detection with Contextual Ensemble Language-Image Multimodal Network

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IEEE Transactions on Industrial Informatics 2025年

作者： Wang, Huiyan Peng, Ruihao Zhu, Yiheng Li, Jiachen Zhou, Mengchu Ying, Ming Wang, Shouguang Zhejiang Gongshang University School of Computer Science and Technology Hangzhou 310018 China Qilu University of Technology (Shandong Academy of Sciences) Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Jinan 250014 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Jinan 250353 China New Jersey Institute of Technology Helen and John C. Hartmann Department of Electrical and Computer Engineering Newark 07102 NJ United States Zhejiang Gongshang University School of Information and Electronic Engineering Hangzhou 310018 China

The automatic detection of defects in industrial photovoltaic film is crucial for ensuring the reliability of photovoltaic modules. key challenges include limited defect samples, interclass feature similarities, and interference from complex backgrounds. Existing deep learning-based methods require large-scale datasets and focus solely on visual data, which limits their effectiveness in few-shot defect detection (FSDD). To address these challenges, we propose Contextual Ensemble Language-Image multimodal Network (CELIN), which enhances FSDD in photovoltaic films by incorporating textual information through prompt tuning. Unlike traditional language-image models that rely on single fixed text prompts, CELIN employs a position-aware context ensemble strategy to integrate position-specific prompt vectors, enabling the model to capture global contextual information and reduce background interference. In addition, a cross class mask method is introduced to differentiate between similar defect categories by blocking interclass interactions during attention computation, thereby minimizing misclassification. Extensive experiments on our own few-shot photovoltaic film defect dataset and various public benchmarks demonstrates that CELIN significantly outperforms existing methods. © 2005-2012 IEEE.

关键词： Contextual ensemble prompt tuning few-shot surface defect detection photovoltaic film defect detection vision-language multimodal model

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The influence of limited visual sensing on the Reynolds flocking algorithm 3

The influence of limited visual sensing on the Reynolds floc...

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3rd IEEE International Conference on Robotic computing (IRC)

作者： Soria, Enrica Schiano, Fabrizio Floreano, Dario Department of Computer Science and Technology the Key Laboratory of Embedded System Service Computing Shanghai China

ISBN: (纸本)9781538692455

The interest in multi-drone systems flourished in the last decade and their application is promising in many fields. We believe that in order to make drone swarms flying smoothly and reliably in real-world scenarios we need a first intermediate step which consists in the analysis of the effects of limited sensing on the behavior of the swarm. In nature, the central sensor modality often used for achieving flocking is vision. In this work, we study how the reduction in the field of view and the orientation of the visual sensors affect the performance of the Reynolds flocking algorithm used to control the swarm. To quantify the impact of limited visual sensing, we introduce different metrics such as (i) order, (ii) safety, (iii) union and (iv) connectivity. As Nature suggests, our results confirm that lateral vision is essential for coordinating the movements of the individuals. Moreover, the analysis we provide will simplify the tuning of the Reynolds flocking algorithm which is crucial for real-world deployment and, especially for aerial swarms, it depends on the envisioned application. We achieve the results presented in this paper through extensive Monte-Carlo simulations and integrate them with the use of genetic algorithm optimization.

关键词： Robot sensing systems Visualization Animals Nickel Azimuth

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Cramér-Rao Bound Minimization for a Passive Sensing Multi-ISAC system

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IEEE Transactions on Vehicular technology 2025年

作者： Chen, Jian Chen, Qikai Deng, Yansha Jia, Jie Yin, Baoxin Wang, Xingwei Northeastern University School of Computer Science and Engineering Shenyang110819 China Northeastern University Engineering Research Center of Security Technology of Complex Network System Ministry of Education Shenyang110819 China Northeastern University Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Shenyang110819 China King's College London LondonWC2R 2LS United Kingdom

The integrated sensing and communication (ISAC) system can simultaneously provide communication and radar sensing, effectively improving spectrum utilization. However, existing research mainly focuses on the mono-static sensing ISAC system, which has shortcomings in limited sensing range and accuracy. We thus investigate a passive sensing multi-ISAC system with multiple communication users and sensing targets, and consider two cases for multi-target sensing without and with prior target knowledge at the base stations (BSs), in which the BSs are interested in estimating the targets' response matrix and channel coefficients, respectively. We also formulate a joint beamforming problem to minimize the Cramér-Rao bound (CRB) of the worst estimation constrained by communication requirements, and obtain the optimal solution with semidefinite relaxation (SDR) assisted transformation. To verify the advantages of our proposed scheme, we consider the bi-static BSs system (B-B) and beamforming with sensing interference cancellation (W-S) as two benchmark schemes. Numerical results illustrate that the proposed scheme obtains better sensing performance and effectively alleviates the effect caused by sensing interference. © 1967-2012 IEEE.

关键词： Cramer-Rao bounds

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The Mechanism of Mobile Communication technology Prompting Digital Transformation of Manufacturing Industry: From the Perspective of Data Factor Empowerment 24

The Mechanism of Mobile Communication Technology Prompting D...

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Proceedings of the 2024 10th International Conference on Communication and Information Processing

作者： Ran Li Muhua Wei Huili Liu Jiayin Qi Lina Liu Department of User and Market Research China Mobile Research Institute Beijing Beijing China Cyberspace Institute of Advanced Technology Guangzhou University Guangzhou Guangzhou China and Key Laboratory of Trustworthy Distributed Computing and Service Beijing University of Posts and Telecommunications Beijing Beijing China School of Economics and Management Beijing University of Posts and Telecommunications Beijing Beijing China

ISBN: (纸本)9798400717444

Abstract: The digital transformation of manufacturing industry is a crucial measure for achieving high-quality development, and mobile communication technology plays a significant role in this process. This paper focuses on exploring the internal mechanism of mobile communication technology promoting the digital transformation of manufacturing industry, with a particular emphasis on three major technologies: 5G, 5G-A, and 6G. Firstly, the paper summarizes the latest progress of mobile communication technology in the field of manufacturing digital transformation. Secondly, it outlines the characteristics of technological evolution from 5G to 6G. Thirdly, based on the technological evolution process, it presents the three major capabilities of 6G, namely transmission, integrated sensing and communication, and intelligent computing. It further elaborates on how mobile communication technology gives rise to data facotor and clarifies the internal mechanism of mobile communication technology enabling data factor to empower the digital transformation of manufacturing industry. Finally, it looks forward to the typical development trends of 6G in the field of manufacturing digital transformation.

关键词： 5G

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A Behavioral Authentication Method for Mobile Based on Browsing Behaviors

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IEEE/CAA Journal of Automatica Sinica 2020年第6期7卷 1528-1541页

作者： Dongxiang Chen Zhijun Ding Chungang Yan Mimi Wang Department of Computer Science and Technology Tongji UniversityShanghai 201804China Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji UniversityShanghai 201804China IEEE

The passwords for unlocking the mobile devices are relatively simple,easier to be stolen,which causes serious potential security *** important research direction of identity authentication is to establish user behavior models to authenticate *** this paper,a mobile terminal APP browsing behavioral authentication system architecture which synthesizes multiple factors is *** architecture is suitable for users using the mobile terminal APP in the daily *** architecture includes data acquisition,data processing,feature extraction,and sub model *** can use this architecture for continuous authentication when the user uses APP at the mobile terminal.

关键词： Behavioral authentication browsing behaviors mobile device multiple factors

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New Methodologies for Parallel Architecture

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Journal of Computer Science & technology 2011年第4期26卷 578-587页

作者：范东睿李晓维李国杰 Key Laboratory of Computer System and Architecture Institute of Computing TechnologyChinese Academy of Sciences

Moore＇s law continues to grant computer architects ever more transistors in the foreseeable future, and parallelism is the key to continued performance scaling in modern microprocessors. In this paper, the achievements in our research project, which is supported by the National Basic Research 973 Program of China, on parallel architecture, are systematically presented. The innovative approaches and techniques to solve the significant problems in parallel architecture design are smnmarized, including architecture level optimization, compiler and language-supported technologies, reliability, power-performance efficient design, test and verification challenges, and platform building. Two prototype chips, a multi-heavy-core Godson-3 and a many-light-core Godson-T, are described to demonstrate the highly scalable and reconfigurable parallel architecture designs. We also present some of our achievements appearing in ISCA, MICRO, ISSCC, HPCA, PLDI, PACT, IJCAI, Hot Chips, DATE, IEEE Trans. VLSI, IEEE Micro, IEEE Trans. Computers, etc.

关键词： architecture multi-core many-core parallelism

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