Integrated Planning and Control for Collision-free Trajectory Generation in 3D Environment with Obstacles

Xiaoxue Zhang,Jun Ma,Sunan Huang,Zilong Cheng,Tong Heng Lee 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

Control of autonomous robots (ARs) is a hot topic over the past three decades, and motion planning is becoming one of the major challenges in AR control. Substantial works have been done for motion planning in 2-dimensional (2D) environments, but planning in 3D complex environments is still an open problem to be investigated. In this paper, we propose a trajectory planning method to plan a high-quality and safe trajectory in 3-dimensional (3D) environments with multiple obstacles. The proposed method is based on the integration of a global optimal 3D path planner with a local planner. First, a hierarchical path planning algorithm is used as a global path planner to compute a near-optimal path formed by a set of waypoints. Second, a local path trajectory planner is designed to track the path computed by the global path planner with multiple constraints of dynamics and environment satisfied. Finally, simulations are conducted to validate the effectiveness of the proposed trajectory generation approach subject to the constraints of robot physical limits and environmental requirements.

A Lightweight Pseudonym Authentication and Key Agreement Protocol for Multi-medical Server Architecture in TMIS

( Xiaoxue Liu ),( Yanping Li ),( Juan Qu ),( Yong Ding ) 한국인터넷정보학회 2017 KSII Transactions on Internet and Information Syst Vol.11 No.2

Telecare Medical Information System (TMIS) helps the patients to gain the health monitoring information at home and access medical services over the mobile Internet. In 2015, Das et al proposed a secure and robust user AKA scheme for hierarchical multi-medical server environment in TMIS, referred to as DAKA protocol, and claimed that their protocol is against all possible attacks. In this paper, we first analyze and show DAKA protocol is vulnerable to internal attacks, impersonation attacks and stolen smart card attack. Furthermore, DAKA protocol also cannot provide confidentiality. We then propose a lightweight pseudonym AKA protocol for multi-medical server architecture in TMIS (short for PAKA). Our PAKA protocol not only keeps good security features declared by DAKA protocol, but also truly provides patient`s anonymity by using pseudonym to protect sensitive information from illegal interception. Besides, our PAKA protocol can realize authentication and key agreement with energy-saving, extremely low computation cost, communication cost and fewer storage resources in smart card, medical servers and physical servers. What`s more, the PAKA protocol is proved secure against known possible attacks by using Burrows-Abadi-Needham (BAN) logic. As a result, these features make PAKA protocol is very suitable for computation-limited mobile device.

How Commercial Banks Improve Financial Product Marketing Capabilities: Case Study of Chongqing Branch of Ping An Bank

Xiaoxue Zhao KOREA INSTITUTE FOR HUMANITIES AND SOCIAL SCIENCES 2023 Journal of Global Area Studies Review(GAS) Vol.2 No.1

Chinese commercial banks have expanded their efforts to advertise their financial products and increase their penetration into the market. However, there are still a lot of issues with bank marketing. Objective: To identify and examine the issues and factors influencing the marketing of Chinese commercial banks; To examine Chongqing Branch of Ping An Bank 's marketing strategy in light of the 4P theory; To make an effort to enhance Chongqing Branch of Ping An Bank's marketing model, and offer practical ways to enhance the financial product marketing of Chinese commercial banks. Methods: This paper mainly adopts the methods of normative research and literature review to analyze the current situation and main problems of commercial banks’ marketing. Results: Chongqing Branch of Ping An Bank lacks the operational expertise and first-class customer resources of large joint-stock commercial banks, as well as the strong capital accumulation of state-owned commercial banks. In addition, commercial banks in other cities also compete with Chongqing Branch of Ping An Bank. Conclusion: By optimizing market segmentation, integrating marketing channels, creating brand effects, cultivating professional talents, and establishing a positive incentive and elimination mechanism, Chongqing Branch of Ping An Bank can improve its financial product marketing problems, enable Chongqing Branch of Ping An Bank to have better marketing strategies, and thus help stand out from commercial banks.

Alienated and disaffected students: exploring the civic capacity of ‘Outsiders’ in Asian societies

Xiaoxue Kuang,Kerry John Kennedy 서울대학교 교육연구소 2018 Asia Pacific Education Review Vol.19 No.1

As an important group of students, the alienated and disaffected students are often overlooked in more general studies of civic education. Based on data from the International Civics and Citizenship Education Study (ICCS 2009), the study investigated alienated and disaffected students in Asia and explored the development of their civic attitudes. Student samples from Chinese Taipei, Hong Kong, Korea, Indonesia, and Thailand were involved in the study. Latent profile analysis (LPA) was used to identify alienated and disaffected students across the five Asian societies, and multilevel multinomial logistic regression (MMLR) was used to explore factors related to group membership. Students’ future civic intentions were analyzed under the framework of Personal Investment Theory (PIT) by multilevel regression. Based on LPA, three groups were identified: the Outsiders, the Moderates, and the Active Participators. The results showed that Outsiders scored lower on all conventional civic values and tended to endorse negative civic behaviors. The results of MMLR showed that boys were more likely to be Outsiders than girls, students’ expected education level, their socio-economic background, and home literacy were negatively related with being in the Outsider group. By combining PIT with multilevel analysis, the study identified that students’ sense of self and facilitating condition accounted for their future civic engagement. Students’ positive attitudes toward traditional culture, morality of politicians, and good citizenship were predictors for conventional civic participation—adult electoral participation and negatively related to their future illegal protest. The study demonstrated the role of traditional values in promoting future civic engagement.

A Literature Review on the Development of the Family Education Guidance Service in China

Xiaoxue Mao,Meejung Chin 대한가정학회 2023 Human Ecology Research(HER) Vol.61 No.3

The Family Education Guidance Service is a public service developed by the government to give guidance and service to parents on educating their children in China. Recently, the service has attracted increasing attention from scholars, as well as from the Chinese Government. To assess the current status of research on the Family Education Guidance Service, this paper firstly introduces the policy history and clarifies the definition of the Family Education Guidance Service and other relevant terms used in China. It then presents a review of studies on the Family Education Guidance Service published in journals with high-grade ratings and analyzes the characteristics of current research in terms of year of publication, author affiliations, research themes, research methods, and target groups. Based on these, it makes suggestions for future development. Overall, 43 papers are reviewed, the findings of which reveal that related research is at the beginning of an upswing. Most authors belong to education colleges and law colleges of universities. The themes studied most often are the strategy exploration and legal construction of the Family Education Guidance Service. The parents of primary- and middle-school students are the most commonly studied group, followed by schoolteachers. The results indicate that despite the growing number of publications, research in this field is still in its early stages and many aspects require further exploration.

A Collision-Free Framework for Navigation of Nonholonomic Vehicle Systems

Xiaoxue Zhang,Jun Ma,Zilong Cheng,Tong Heng Lee 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

The task of highly effective navigation is certainly one of the critical technologies of autonomous vehicles that have been widely investigated by researchers. In this paper, a navigation framework with path planning and tracking is presented, where a feasible and collision-free trajectory is generated for nonholonomic vehicle systems. In terms of path planning, an LQR-RRT<SUP>*</SUP> algorithm is applied to plan a path without collision. It is an optimal sampling-based planning algorithm with linear quadratic regulation-based heuristics, and able to tackle some rather complicated or underactuated dynamic systems. In order to improve the feasibility of the planned path and compensate for the deterioration of optimality due to sampling times, the approach is taken where a cubic spline path is additionally generated. The path tracking problem is formulated as a constrained optimization problem for the nonholonomic vehicle system, and then the required steering angle and acceleration is computed to avoid potential collisions. The results of the simulation experiments clearly demonstrate the effectiveness of the proposed navigation framework.

Appropriate modulation scheme for visible light communication systems considering illumination

Xiaoxue Ma,Kyujin Lee,Kyesan Lee IET 2012 Electronics letters Vol.48 No.18

<P>Visible light communication (VLC) systems use light emitting diode (LED) technology for illumination and data transmission at the same time. The main concerns of VLC systems are illumination and BER performance. In optical systems, the modulation scheme affects the illumination and BER. Therefore, it is necessary to analyse the performance of the modulation schemes applied in the VLC system. To analyse the bandwidth requirement, power efficiency, brightness and flickering problem, four different modulation schemes, were compared: OOK, pulse position modulation (PPM), overlapping PPM (OPPM), and inverted PPM (I-PPM). It is shown that OPPM achieves better performance with flexible illumination. Moreover, trellis-coded modulation (TCM) is applied to improve the BER performance. Simulation results show that OPPM is a powerful candidate modulation scheme for VLC systems.</P>

Multi-modal Medical Image Fusion Based on Non-subsampled Shearlet Transform

Xing Xiaoxue,Cao Fucheng,Shang Weiwei,Liu Fu 보안공학연구지원센터 2015 International Journal of Signal Processing, Image Vol.8 No.2

In order to provide more comprehensive and effective information for cancer diagnosis and tumor treatment planning, it is necessary to fuse multi-modal medical images, such as CT/MRI image, CT/PET image, MRI/SPECT image and so on. In this paper, a multi-modal medical image fusion method based on Non-subsampled Shearlet Transform is proposed. Firstly, in this method, source images are decomposed into low-pass and high-pass subbands by NSST. Then, due to the characteristic features--large sparsity and strong contrast, the high-frequency and low-frequency coefficients of the images are fused by the different fusion rules. Finally, the image is reconstructed by the inverse non-sampled shearlet transform. In the method, the fusion rules are designed based on the regional energy and the average gradient; the image entropy, relative quality, average gradient, standard deviation and spatial frequency were used to evaluate the fusion results objectively. In the experiments, CT and MRI images are chosen to verify the method. Both the visual and the objective analysis show that the proposed method is better than the conventional Wavelet-based and non-subsampled Contourlet-based methods.

사용자 경험 개선을 위한 중고 거래 앱 사용성 항목 분석 연구

유소설(Xiaoxue Liu),김민수(MInsoo Kim),박경진(Kyungjin Park) 한국디자인학회 2023 한국디자인학회 학술발표대회 논문집 Vol.2023 No.10

An Image Fusion Algorithm Based on Non-subsampled Shearlet Transform and Compressed Sensing

XING Xiaoxue,LI Jie,FAN Qinyin,SHANG Weiwei 보안공학연구지원센터 2016 International Journal of Signal Processing, Image Vol.9 No.3

In order to obtain rapid fusion speed, an image fusion algorithm based on Non-subsampled Shearlet Transform (NSST) and Compressed Sensing (CS) is presented. The source images are decomposed with NSST. Based on local area energy, the low-frequency coefficients are fused. The high-frequency coefficients are compressed, fused and reconstructed with CS. Based on global gradient, the measurements of high-frequency coefficients are fused. The inverse NSST is used to get the final fused image. During the fusion course, only the compressed data of the high-frequency coefficients are fused, so the fusion effects can’t be affected. At the same time, the running time can be reduced. In this paper, the multi-focus images are used to verify the algorithm effectiveness. The simulation results indicate that the fusion image can be achieved without prior knowledge of the original images. Although the fusion quality is sacrificed when the sampling rate becomes higher, the algorithm can significantly reduce the time cost and hardware requirements. The algorithm provides an idea on how to satisfy the real time requirements in the fusion system.