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arXiv 2018年

作者： He, Xudong Zhao, Junqiao Sun, Lu Huang, Yewei Zhang, Xinglian Li, Jun Ye, Chen Key Laboratory of Embedded System and Service Computing Tongji University Ministry of Education Shanghai Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai School of Surveying and Geo-Informatics Tongji University Shanghai China School of Automotive Studies Tongji University Shanghai China

In this paper, we studied a SLAM method for vector-based road structure mapping using multi-beam LiDAR. We propose to use the polyline as the primary mapping element instead of grid cell or point cloud, because the vector-based representation is precise and lightweight, and it can directly generate vector-based High-Definition (HD) driving map as demanded by autonomous driving systems. We explored: 1) the extraction and vectorization of road structures based on local probabilistic fusion. 2) the efficient vector-based matching between frames of road structures. 3) the loop closure and optimization based on the pose-graph. In this study, we took a specific road structure, the road boundary, as an example. We applied the proposed matching method in three different scenes and achieved the average absolute matching error of 0.07 m. We further applied the mapping system to the urban road with the length of 860 meters and achieved an average global accuracy of 0.466 m without the help of high precision GPS. Copyright © 2018, The Authors. All rights reserved.

关键词： Mapping

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HeavyTracker: An Efficient Algorithm for Heavy-Hitter Detection in High-Speed Networks

HeavyTracker: An Efficient Algorithm for Heavy-Hitter Detect...

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International Conference on Parallel and Distributed systems (ICPADS)

作者： Jiakun Yu Yu-E Sun He Huang Yang Du Guoju Gao Hongli Xu Shigang Chen School of Computer Science and Technology Soochow University Suzhou China School of Rail Transportation Soochow University Suzhou China Ministry of Education Key Laboratory of Embedded System and Service Computing (Tongji University) Shanghai China School of Computer Science and Technology University of Science and Technology of China Hefei China

Detecting heavy hitters that constitute the majority of network traffic is a critical task in network measurement. However, the highly skewed network traffic and the size-limited on-chip memory pose great challenges for heavy-hitter detection. The prior arts either use sketches to track all flows or maintain a fix-sized tracking list for recording elephant flows, resulting in limited detection precision or time-consuming tracking list exchanges. This paper presents HeavyTracker, an efficient algorithm that detects heavy hitters based on a count-with-threshold strategy. A two-dimensional tracker unit array is employed in our design to capture the heavy hitters, where each flow is randomly mapped to one unit in all rows. The tracker unit is designed to accept many flows and precisely report the largest two with frequencies that reach a predefined threshold. This design eliminates the frequent and time-consuming exchanges for maintaining the tracking list, allowing us to use a hash table to track the reported elephant flows. Experimental results based on real Internet traces show that HeavyTracker achieves a high $\mathbf{F}_{\beta}$-Score of threshold-t detection (0.97) and over 99% precision of top-k detection under a tight memory size. Besides, it reduces the frequency estimation error by 97.4% compared to the state-of-the-art.

关键词： Art High-speed networks Measurement uncertainty Telecommunication traffic Size measurement Frequency estimation Internet

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Software services protection security protocol based on software watermarking in cloud environment

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Tongxin Xuebao/Journal on Communications 2012年第SUPPL.2期33卷 176-181页

作者： Xu, Jin-Chao Zeng, Guo-Sun Wang, Wei Department of Computer Science and Technology Tongji University Shanghai 201804 China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China

Aimed to resist the infringement of software services in cloud environment, a software services protection security protocol based on software watermarking in cloud environment was presented. On the consideration of actual needs in cloud computing, the protocol introduced the software watermarking as a service cloud which was responsible for software watermark embedding and extraction. The protocol not only met the basic requirements of software copyright protection, but also gived the detailed strategy to solve the infringement, and hardened the ability of the software watermarking to resist various attacks. The analysis shows that the proposed protocol has higher security.

关键词： Copyrights

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TiEV: The tongji intelligent electric vehicle in the intelligent vehicle future challenge of China

arXiv

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arXiv 2018年

作者： Zhao, Junqiao Ye, Chen Wu, Yan Guan, Linting Cai, Lewen Sun, Lu Yang, Tao He, Xudong Li, Jun Ding, Yongchao Zhang, Xinglian Wang, Xinchen Huang, Jinlin Zhang, Enwei Huang, Yewei Jiang, Wei Zhang, Shaoming Xiong, Lu Feng, Tiantian Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai Department of Computer Science and Technology School of electrics and Information Engineering Tongji University Shanghai School of Surveying and Geo-Informatics Tongji University Shanghai China School of Automotive Studies Tongji University Shanghai China

TiEV is an autonomous driving platform implemented by the Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, large-scale mapping and updating, the 1st and the 2nd planning and the overall safety concern. TiEV finished 2016, and 2017 Intelligent Vehicle Future Challenge of China held at Changshu. We show our experiences on the development of autonomous vehicles and discuss the future trends. Copyright © 2018, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Optimal scheduling of single-arm multi-cluster tools with two-space buffering modules

Optimal scheduling of single-arm multi-cluster tools with tw...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： FaJun Yang NaiQi Wu Yan Qiao MengChu Zhou Department of Industrial Engineering Guangdong University of Technology Guangzhou China Institute of Systems Engineering Macau University of Science and Technology Macau Key Laboratory of Embedded System and Service Computing Tongji University Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

A multi-cluster tool is composed of a number of single-cluster tools linked by buffering modules. The capacity of a buffering module can be one or two. Aiming at finding an optimal one-wafer cyclic schedule, this work explores the effect of two-space buffering modules on the performance of a multi-cluster tool. The tool is modeled by a kind of Petri nets. The dynamic behavior of robot waiting and tasks, process modules, and buffers is well captured by the net model. With the model, this work shows that there is always a one-wafer cyclic schedule that reaches the lower bound of the cycle time of a process-dominant tool. Furthermore, a constant-time algorithm is revealed to find such a schedule for the first time for such multi-cluster tools. An illustrative example is given to show the application and power of this new method.

关键词： Schedules Robot kinematics Firing Semiconductor device modeling Fires Load modeling

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DSC: Deep scan context descriptor for large-scale place recognition

arXiv

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arXiv 2021年

作者： Cui, Jiafeng Huang, Tengfei Cai, Yingfeng Zhao, Junqiao Xiong, Lu Yu, Zhuoping School of Automobile Tongji University Shanghai China Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China

LiDAR-based place recognition is an essential and challenging task both in loop closure detection and global relocalization. We propose Deep Scan Context (DSC), a general and discriminative global descriptor that captures the relationship among segments of a point cloud. Unlike previous methods that utilize either semantics or a sequence of adjacent point clouds for better place recognition, we only use raw point clouds to get competitive results. Concretely, we first segment the point cloud egocentrically to acquire centroids and eigenvalues of the segments. Then, we introduce a graph neural network to aggregate these features into an embedding representation. Extensive experiments conducted on the KITTI dataset show that DSC is robust to scene variants and outperforms existing methods. © 2021, CC BY.

关键词： Eigenvalues and eigenfunctions

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RETRACTED ARTICLE: Stability analysis of dynamic collaboration model under two-lane case

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Nonlinear Dynamics 2014年第1期81卷 1021-1021页

作者： Li, Zhipeng Zhang, Run Xu, Shangzhi Qian, Yeqing The Key Laboratory of Embedded System and Service Computing Supported by Ministry of Education Tongji University Shanghai China

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New reachability trees for unbounded Petri nets

New reachability trees for unbounded Petri nets

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IEEE International Conference on Robotics and Automation (ICRA)

作者： ShouGuang Wang MengChu Zhou MengDi Gan Dan You Yue Li School of Information & Electronic Engineering Zhejiang Gongshang University Hangzhou China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China MoE Key Laboratory of Embedded System and Service Computing Tongji University Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (纸本)9781479969241

Reachability is an important dynamic property of Petri nets. Its determination given an unbounded net and initial marking has remained an open problem since 1960s. Due to its extreme difficulty, a great deal of research has been focused on some subclasses of unbounded nets. For arbitrary ones, this work intends to propose a new reachability tree (NRT), which consists of only but all reachable markings from its initial marking. Furthermore, an NRT-based method to decide deadlocks of unbounded nets is presented. An example is provided to show the new results.

关键词： system recovery Petri nets Manufacturing systems Solids Gallium nitride embedded systems

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Optimal Linear Crossover for Mitigating Negative Transfer in Evolutionary Multitasking

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IEEE Transactions on Evolutionary Computation 2024年

作者： Liu, Zhaobo Yuan, Jianhua Zhang, Haili Zeng, Tao Zhu, Zexuan Shenzhen University Institute for Advanced Study Shenzhen518060 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China Shenzhen Polytechnic University School of Undergraduate Education Shenzhen518055 China Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Shenzhen University Shenzhen City Key Laboratory of Embedded System Design Shenzhen518060 China Chongqing University Key Laboratory of Dependable Service Computing in Cyber Physical Society Ministry of Education of China Chongqing400044 China

Evolutionary multitasking algorithms use information exchange among individuals in a population to solve multiple optimization problems simultaneously. Negative transfer is a critical factor that affects the performance of evolutionary multitasking algorithms. In this study, we propose an innovative approach to mitigate negative transfer in evolutionary multitasking algorithms. The proposed approach is grounded in rigorous theoretical analysis, which provides valuable theoretical insights into the design of an optimal linear crossover operator for mitigating negative transfer. By identifying interpretable conditions, we establish a solid theoretical foundation to prevent negative transfer in diverse scenarios. Building upon these findings, we theoretically derive a closed-form expression for the optimal crossover operator and propose practical design methods based on approximations. Furthermore, we integrate the proposed optimal crossover operator into a fundamental evolutionary multitasking algorithm framework. The resultant algorithm is comparable or superior to other state-of-the-art methods. Empirical validation through comprehensive experiments confirms the effectiveness of our theoretical findings. © 1997-2012 IEEE.

关键词： Optimization algorithms

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Route search algorithm on P2P networks based on Gnutella protocol: Light-flooding

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Jisuanji Gongcheng/Computer Engineering 2005年第11期31卷 112-114页

作者： Yue, Guangxue Department of Computer Science Huaihua University Huaihua 418000 China Key Lab. of Embedded Computing and System of Hunan Hunan University Changsha 410082 China

By analyzing search algorithm on Gnutella networks protocol, combining its advantages both the Gossip distributed forward search and spanning tree algorithm, this paper realizes a kind of high-efficient route searches for algorithms: Light-Flooding, presents simulations of both Light-Flooding and Gossip search algorithm, the results show that Light-Flooding algorithm improves efficiently search about 63.4%, lower redundant information about 60%, average packet delay is 2.6 s. So as to make the whole comprehensive composite performance of the networks maintain a fine state.

关键词： Hops Light-Flooding Peer-to-Peer network Route search Spanning tree

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