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Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots

自动化学报 2013年第8期39卷 1238-1245页

作者： CAO Zheng-Cai YIN Long-Jie FU Yi-Li LIU Tian-Long College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji UniversityShanghai 201804China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China

活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳... 详细信息

活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳定的一个预兆的控制器被介绍。第一，利用产生速度的命令的一个运动学的预兆的稳定控制器被介绍。然后，来临以便 asymptotically 做活动机器人的实际速度到需要的，一个动态预兆的控制器被设计。建议预兆的控制器能容易处理限制。最后，几模拟被执行，并且结果说明建议控制计划是有效的解决视觉伺服稳定问题。

关键词：非完整移动机器人稳定化控制器预测控制器视觉伺服生成速度运动预测稳定问题控制方案

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A Graph Reasoning Model Based on Multiple Types of Nodes 7

A Graph Reasoning Model Based on Multiple Types of Nodes

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7th International Conference on Big Data and Information Analytics, BigDIA 2021

作者： Liu, Yibing Huo, Lijun Zhou, Gang Information Engineering University State Key Laboratory of Mathematical Engineering and Advanced Computing Zhengzhou China National University of Defense Technology Key Laboratory of Information System Engineering Changsha China

ISBN: (纸本)9781665424660

Multi-hop machine reading comprehension (MRC) depends on the model to answer a semantically related question based on the given supporting text. In this study, inspired by previous research about Graph Neural Network(GNN), we develop a new graph covering three kinds of nodes: Sentence, Entity, Candidate. A corresponding MRC method based on graph inference is proposed, called SEC reasoner. The advantage of SECr is that it adopts different granular information as graph nodes, which can execute a more comprehensive reasoning. Our proposed model first initialize the node representations by co-Attention, multi-head attention and self-Attention based on context embedding. SECr then employs GNN based information transfer algorithms to collect evidences from the node encoding, and calculates a score for choosing the answer. In experiments, we evaluate the model on two popular benchmark datasets-WikiHop and MedHop. SECr reachs accuracy rates of 71.6%, 63.1% respectively, which is a competitive result. In addition, a comprehensive analysis proves the effectiveness and interpretability of the SECr. © 2021 IEEE.

关键词： Semantics

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A Better Cardinality Estimator with Fewer Bits, Constant Update Time, and Mergeability 42

A Better Cardinality Estimator with Fewer Bits, Constant Upd...

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42nd IEEE International Conference on Computer Communications, INFOCOM 2023

作者： Du, Yang Huang, He Sun, Yu-E Li, Kejian Zhang, Boyu Gao, Guoju Soochow University School of Computer Science and Technology Suzhou China Soochow University School of Rail Transportation Suzhou China Ministry of Education Key Laboratory of Embedded System and Service Computing Shanghai China

ISBN: (纸本)9798350334142

Cardinality estimation is a fundamental problem with diverse practical applications. HyperLogLog (HLL) has become a standard in practice because it offers good memory efficiency, constant update time, and mergeability. Some recent work achieved better memory efficiency, but typically at the cost of impractical update time or losing mergeability, making them incompatible with applications like network-wide traffic measurement. This work presents SpikeSketch, a better cardinality estimator that reduces memory usage of HLL by 37% without sacrificing other crucial metrics. We adopt a bucket-based data structure to promise constant update time, design a smoothed log4 ranking and a spike coding scheme to compress cardinality observables into buckets, and propose a lightweight mergeable lossy compression to balance memory usage, information loss, and mergeability. Then we derive an unbiased estimator for recovering cardinality from the lossy-compressed sketch. Theoretical and empirical results show that SpikeSketch can work as a drop-in replacement for HLL because it achieves a near-optimal MVP (memory-variance-product) of 4.08 (37% smaller than HLL) with constant update time and mergeability. Its memory efficiency even defeats ACPC and HLLL, the state-of-the-art lossless-compressed sketches using linear-time compression to reduce memory usage. © 2023 IEEE.

关键词： Efficiency

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Towards optimized tensor code generation for deep learning on sunway many-core processor

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Frontiers of Computer Science 2024年第2期18卷 1-15页

作者： Mingzhen LI Changxi LIU Jianjin LIAO Xuegui ZHENG Hailong YANG Rujun SUN Jun XU Lin GAN Guangwen YANG Zhongzhi LUAN Depei QIAN State Key Laboratory of Software Development Environment Beijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China National University of Singapore Singapore 119077Singapore State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi 214000China Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing 100854China Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China

The flourish of deep learning frameworks and hardware platforms has been demanding an efficient compiler that can shield the diversity in both software and hardware in order to provide application *** the existing deep learning compilers,TVM is well known for its efficiency in code generation and optimization across diverse hardware *** the meanwhile,the Sunway many-core processor renders itself as a competitive candidate for its attractive computational power in both scientific computing and deep learning *** paper combines the trends in these two ***,we propose swTVM that extends the original TVM to support ahead-of-time compilation for architecture requiring cross-compilation such as *** addition,we leverage the architecture features during the compilation such as core group for massive parallelism,DMA for high bandwidth memory transfer and local device memory for data locality,in order to generate efficient codes for deep learning workloads on *** experiment results show that the codes generated by swTVM achieve 1.79x improvement of inference latency on average compared to the state-of-the-art deep learning framework on Sunway,across eight representative *** work is the first attempt from the compiler perspective to bridge the gap of deep learning and Sunway processor particularly with productivity and efficiency in *** believe this work will encourage more people to embrace the power of deep learning and Sunwaymany-coreprocessor.

关键词： sunway processor deep learning compiler code generation performance optimization

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The behavioral sign of account theft: Realizing online payment fraud alert 29

The behavioral sign of account theft: Realizing online payme...

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29th International Joint Conference on Artificial Intelligence, IJCAI 2020

作者： Wang, Cheng Department of Computer Science Tongji University Shanghai China Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai China Shanghai Institute of Intelligent Science and Technology Tongji University China

ISBN: (纸本)9780999241165

As a matter of fact, it is usually taken for granted that the occurrence of unauthorized behaviors is necessary for the fraud detection in online payment services. However, we seek to break this stereotype in this work. We strive to design an ex-ante anti-fraud method that can work before unauthorized behaviors occur. The feasibility of our solution is supported by the cooperation of a characteristic and a finding in online payment fraud scenarios: The well-recognized characteristic is that online payment frauds are mostly caused by account compromise. Our finding is that account theft is indeed predictable based on users' high-risk behaviors, without relying on the behaviors of thieves. Accordingly, we propose an account risk prediction scheme to realize the ex-ante fraud detection. It takes in an account's historical transaction sequence, and outputs its risk score. The risk score is then used as an early evidence of whether a new transaction is fraudulent or not, before the occurrence of the new transaction. We examine our method on a real-world B2C transaction dataset from a commercial bank. Experimental results show that the ex-ante detection method can prevent more than 80% of the fraudulent transactions before they actually occur. When the proposed method is combined with an interim detection to form a real-time anti-fraud system, it can detect more than 94% of fraudulent transactions while maintaining a very low false alarm rate (less than 0.1%). © 2020 Inst. Sci. inf., Univ. Defence in Belgrade. All rights reserved.

关键词： Crime

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BMSAD: Behavior Feature and Multi-Scenario -Based Sybil Attack Detection Method in Vehicular Networks 3

BMSAD: Behavior Feature and Multi-Scenario -Based Sybil Atta...

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3rd International Seminar on Artificial Intelligence, Networking, and Information technology, AINIT 2022

作者： Luo, Jie Li, Zhong College of Information Science and Technology Donghua University Shanghai201620 China Key Laboratory of the Ministry of Education for Embedded System and Service Computing Department of Computer Science Tongji University Shanghai201804 China

ISBN: (数字)9781510662971

ISBN: (纸本)9781510662964

Vehicular networks improve traffic safety and efficiency by wireless communications among vehicles and infrastructures. However, security has always been a challenge to vehicular networks, which may cause severe harm to the intelligent transportation systems. Sybil attack is considered as a serious security threat to vehicular networks since the attacker can disseminate false messages with multiple forged identities. In this paper, we designed a behavior feature and multi-scenario-based Sybil attack detection method, named BMSAD in vehicular networks. In BMSAD, we propose solutions for two scenarios: normal traffic and traffic congestion. A node is allowed to verify the authenticity of another node by estimating their geographic distance based on received signal strength, and compare them to its claimed localizations. Then we design long- and short-term pattern to analyze the similarity of vehicles' behavior features and trajectory for Sybil nodes detection, which act as the second line of defense in normal traffic scenario. At last, the Sybil nodes of the traffic congestion scenario are detected by logical inference based on kinematics theory. And experiment results demonstrate that the proposed scheme achieves high detection rate and low false positive rate. © 2023 SPIE.

关键词： Traffic congestion

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Two-dimensional color uncorrelated principal component analysis for feature extraction with application to face recognition

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2012 International Conference on service-Oriented computing, ICSOC 2012

作者： Zhao, Cairong Miao, Duoqian Department of Computer Science and Technology Tongji University Shanghai 201804 China Key Laboratory of Embedded System and Service Computing Ministry of Education Shanghai 7201804 China Ministry of Education Nanjing 210094 China

ISBN: (纸本)9783319029603

This paper proposes a two-dimensional color uncorrelated principal component analysis algorithm(2DCUPCA) for unsupervised subspace learning directly from color face images. The 2DCUPCA can be used to explore uncorrelated properties among color-based features, which contain minimum redundancy and ensure linear independence among features. Furthermore, the proposed 2DCUPCA provided the theoretical foundations analysis and proved the uncorrelated property between color-based features in theory. This makes it sure that the extracted features directly from three color image matrices will be uncorrelated. Finally, experimental results on the AR and FRGC-2 color face databases show that 2DCUPCA achieves better recognition performance than other color face recognition methods. © Springer International Publishing 2013.

关键词： Principal component analysis

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An Effective Principal Curves Extraction Algorithm for Complex Distribution Dataset 1

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5th International Conference on Rough Set and Knowledge technology (RSKT)

作者： Zhang, Hongyun Miao, Duoqian Sun, Lijun Ye, Ying The Key Laboratory of Embedded System and Service Computing Ministry of Education China Tongji University Shanghai 201804 China School of Electronic and Information Engineering Tongji University Shanghai 201804 China

ISBN: (数字)9783642162480

ISBN: (纸本)9783642162473

This paper proposes a new method for finding principal curves from complex distribution dataset. Motivated by solving the problem, which is that existing methods did not perform well on finding principal curve in complex distribution dataset with high curvature, high dispersion and self-intersecting, such as spiral-shaped curves, Firstly, rudimentary principal graph of data set is created based on the thinning algorithm, and then the contiguous vertices are merged. Finally the fitting-and-smoothing step introduced by Kegl is improved to optimize the principal graph, and Kegl's restructuring step is used to rectify imperfections of principal graph. Experimental results indicate the effectiveness of the proposed method on finding principal curves in complex distribution dataset.

关键词： Principal curves Complex distribution dataset Thinning algorithm Fitting-smoothing step Image skeletonization

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Improved condition for controllability of strongly dependent strict minimal siphons in Petri nets

Improved condition for controllability of strongly dependent...

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International Conference on Networking, Sensing and Control

作者： Liu, Guanjun Jiang, Changjun Zhou, Mengchu Key Laboratory of the MoE for Embedded System and Service Computing Tongji University Shanghai 201804 China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ 07102 United States

ISBN: (纸本)9781424495702

Li and Zhou propose an important concept for Petri nets: elementary siphons. They partition siphons into elementary and dependent ones. The controllability of the latter can be ensured by the former's proper control. They give a sufficient condition to decide whether a dependent siphon is controlled by its elementary ones in S3PR. However, this condition is so loose that in many cases the controllability of a dependent SMS cannot be determined although it is actually controlled. In this paper, we propose an improved condition to decide the controllability of strongly dependent SMS. © 2011 IEEE.

关键词： Controllability

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A Web-Based Theme-Related Word Set Construction Algorithm

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Asia Pacific Web (APWeb) and Web-Age Information Management (WAIM) Joint Conference on Web and Big Data, APWeb-WAIM 2018

作者： Wu, Yingkai Li, Yukun Hao, Gang Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory of Intelligence Computing and Novel Software Technology Tianjin China Key Laboratory of Computer Vision and System Ministry of Education Tianjin Tianjin China

ISBN: (纸本)9783030012977

Constructing theme-related word set is a basic work for establishing theme-oriented information retrieval systems. Nowadays, most of previous studies focus on identifying representative words of a specific document, and few studies pay attention to constructing a word set related to a theme. By analyzing existing keywords extraction methods, this paper proposes a method to automatically construct theme-related word set based on the primary theme-related word set given by domain experts and the well-known websites related to the theme. As the first step, the method uses existing information extraction techniques to obtain the documents from the websites and every document’s keyword set. Then it calculates the correlation degree between the known theme-related word set and the document keyword set, further gets a word set of the document related to the theme based on the document-theme relevance, and merges the word set to the theme-related word set. By using the method, the theme-related word set is supplemented by iteration based on the documents gotten from the theme-related websites. Because there is little research work focusing on this problem and no relevant experimental data set, this paper uses the proposed method to construct theme-related word sets towards two themes "electricity" and "college entrance examination", and we invite domain experts to evaluate the word sets. The results show that a relatively complete theme-related word set can be obtained based on this method, which shows the feasibility of our methods. © 2018, Springer Nature Switzerland AG.

关键词： Websites

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