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| 1 | Path Planning for Intelligent Robots Based on Deep Q-learning With Experience Replay and Heuristic Knowledge显示文摘Path planning and obstacle avoidance are two challenging problems in the study of intelligent robots. In this paper, we develop a new method to alleviate these problems based on deep Q-learning with experience replay and heuristic knowledge. In this method, a neural network has been used to resolve the 'curse of dimensionality' issue of the Q-table in reinforcement learning. When a robot is walking in an unknown environment, it collects experience data which is used for training a neural network;such a process is called experience replay.Heuristic knowledge helps the robot avoid blind exploration and provides more effective data for training the neural network. The simulation results show that in comparison with the existing methods, our method can converge to an optimal action strategy with less time and can explore a path in an unknown environment with fewer steps and larger average reward. | Lan Jiang Hongyun Huang Zuohua Ding | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，4： | 11 |
| 2 | Hybrid MARTE statecharts显示文摘当模特儿和即时、嵌入的系统(MARTE ) 的分析的说明在即时、嵌入的系统的域是统一当模特儿的语言(UML ) 的扩展。尽管 MARTE 时间模型提供支持描述分离、稠密的钟,最大的努力到目前为止被放在分离 MARTE 模型的说明和分析上。探讨混合即时、嵌入的系统,我们建议用 MARTE 和混合自动机的理论扩大 statecharts。我们把这延期混血儿 MARTE 称为 statecharts。它在那在混合自动机上提供改进:逻辑时间变量和测时学的时间变量被统一。混合 MARTE statecharts 的正式句法和语义基于标记的转变系统和实时转变系统被给。作为案例研究,我们与混合 MARTE statecharts 为一个火车控制系统的行为建模表明利益。 | Jing LIU Ziwei LIU Jifeng HE Freederic MALLET Zuohua DING | 2013 | Frontiers of Computer Science2013，7，1： | 2 |
| 3 | Petri net based test case generation for evolved specification显示文摘Model-based testing can use a model to test a concrete program's implementation. When the model is changed due to the evolution of the specification, it is important to maintain the test suites up to date, such that it can be used for regression testing. A complete regeneration of the whole test suite from the new model,although inefficient, is still frequently used in practice. To address this problem effectively, we propose a test case reusability analysis technique to identify reusable test cases of the original test suite based on graph analysis,such that we can generate new test cases to cover only the change-related parts of the new model. The Market Information System(MIS) is employed to demonstrate the feasibility and effectiveness of the proposed method.Our experimental results show that the use of our method saves about 31.5% test case generation cost. | Zuohua DING Mingyue JIANG Haibo CHEN Zhi JIN Mengchu ZHOU | 2016 | Science China(Information Sciences)2016，59，8： | 1 |
| 4 | AADL+: a simulation-based methodology for cyber-physical systems显示文摘AADL (architecture analysis and design language) concentrates on the modeling and analysis of application system architectures.It is quite popular for its simple syntax,powerful functionality and extensibility and has been widely applied in embedded systems for its advantage.However,it is not enough for AADL to model cyber-physical systems (CPS) mainly because it cannot be used to model the continuous dynamic behaviors.This paper proposes an approach to construct a new sublanguage of AADL called AADL+,to facilitate the modeling of not only the discrete and continuous behavior of CPS,but also interaction between cyber components and physical components.The syntax and semantics of the sublanguage are provided to describe the behaviors of the systems.What's more,we develop a plug-in to OSATE (open-source AADL tool environment) for the modeling of CPS.And the plug-in supports syntax checking and simulation of the system model through linking with modelica.Finally,the AADL+ annex is successfully applied to model a lunar rover control system. | Jing LIU Tengfei LI Zuohua DING Yuqing QIAN Haiying SUN Jifeng HE | 2019 | Frontiers of Computer Science2019，13，3： | 1 |
| 5 | Existence of the solutions of fuzzy differential equation with parameters显示文摘 | Ding Zuohua Ma Ming Kandel A | 1999 | Information Sciences1999，99，34： | 1 |
| 6 | Petri net representation of switched fuzzy systems显示文摘 | Ding Zuohua Ma Jiaying Kandel A | 2013 | IEEE Transactions on Fuzzy Systems2013，21，1： | 1 |
| 7 | A rigorous approach towards test case generation显示文摘 | Ding Zuohua Zhang Kao Hu Jueliang | 2008 | Information Sciences2008，178，： | 1 |
| 8 | Reachable Set Estimation and Safety Verification of Nonlinear Systems via Iterative Sums of Squares Programming显示文摘In this paper,the problems of forward reachable set estimation and safety verification of uncertain nonlinear systems with polynomial dynamics are addressed.First,an iterative sums of squares(SOS)programming approach is developed for reachable set estimation.It characterizes the over-approximations of the forward reachable sets by sub-level sets of time-varying Lyapunovlike functions that satisfy an invariance condition,and formulates the problem of searching for the Lyapunov-like functions as a bilinear SOS program,which can be solved via an iterative algorithm.To make the over-approximation tight,the proposed approach seeks to minimize the volume of the overapproximation set with a desired shape.Then,the reachable set estimation approach is extended for safety verification,via explicitly encoding the safety constraint such that the Lyapunov-like functions guarantee both reaching and avoidance.The efficiency of the presented method is illustrated by some numerical examples. | LIN Wang YANG Zhengfeng DING Zuohua | 2022 | Journal of Systems Science & Complexity2022，35，3： | 0 |
| 9 | A software-defined MAPE-K architecture for unmanned systems显示文摘Dear editor,With the advances in software,sensors,and communication technologies,there is rapid development in unmanned systems.An unmanned system consists of unmanned vehicles,a control system and a communication system among its components.These kinds of systems,due to their specific autonomy and high mobility,ofer a wide range of applications and have been used as important tools in various domains. | Mingyue JIANG Libin ZHENG Zuohua DING Zhi JIN | 2023 | Science China(Information Sciences)2023，66，5： | 0 |
| 10 | Automated GUI widgets classification显示文摘1 Introduction Graphical User Interface(GUI)widgets classification entails classifying widgets into their appropriate domain-specific types(e.g.,CheckBox and EditText)[1,2].The widgets classification is essential as it supports several software engineering tasks,such as GUI design and testing[1,3].The ability to obtain better widget classification performance has become one of the keys to the success of these tasks.Researchers in recent years have proposed many techniques for improving widget classification performance[1,2,4].For example,Moran et al.[1]proposed a deep learning technique to classify GUI widgets into their domain-specific type.The authors used the deep learning algorithm,a Convolutional Neural Network(CNN)architecture,to classify the GUI widgets.Chen et al.[2]proposed combining text-based and non-text-based models to improve the overall performance of GUI widget detection while classifying the widgets with the ResNet50 model. | Kabir Sulaiman SAID Liming NIE Yuanchang LIN Yaowen ZHENG Zuohua DING | 2023 | Frontiers of Computer Science2023，17，1： | 0 |
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