arXiv subjects

Yan Jia

Publications and source records attributed to Yan Jia.

39 records · Page 3Linked to original sources

arXiv2017

CPG-Based Control Scheme for Quadruped Robot to Withstand the Lateral Impact

This paper aims to present a stability control strategy for quadruped robot under lateral impact with the help of lateral trot. We firstly propose five necessary conditions for keeping balance. The classical four-neuron Central Pattern Generator (CPG) network with Hopf oscillators is then extended to eight-neuron network with four more trigger-enabled neurons, which controls the lateral trot. With proper adjustment of network's parameters, such network can coordinate the lateral and longitudinal trot gait. Based on Zero Movement Point (ZMP) theory, the robot is modeled as an inverted pendulum to plan the Center of Gravity (CoG) position and calculate the needed lateral step length. The simulation shows that the lateral acceleration of the quadruped robot after lateral impact regains to the normal range in a short time. Comparison shows that the maximal lateral impact that robot can resist increases about 125% from 0.72g to 1.55g.

cs.RO↗

arXiv2017

Leveraging local h-index to identify and rank influential spreaders in networks

Identifying influential nodes in complex networks has received increasing attention for its great theoretical and practical applications in many fields. Traditional methods, such as degree centrality, betweenness centrality, closeness centrality, and coreness centrality, have more or less disadvantages in detecting influential nodes, which have been illustrated in related literatures. Recently, the h-index, which is utilized to measure both the productivity and citation impact of the publications of a scientist or scholar, has been introduced to the network world to evaluate a node's spreading ability. However, this method assigns too many nodes with the same value, which leads to a resolution limit problem in distinguishing the real influence of these nodes. In this paper, we propose a local h-index centrality (LH-index) method for identifying and ranking influential nodes in networks. The LH-index method simultaneously takes into account of h-index values of the node itself and its neighbors, which is based on the idea that a node connects to more influential nodes will also be influential. According to the simulation results with the stochastic Susceptible-Infected-Recovered (SIR) model in four real world networks and several simulated networks, we demonstrate the effectivity of the LH-index method in identifying influential nodes in networks.

physics.soc-ph↗

arXiv2013

Parity Declustering for Fault-Tolerant Storage Systems via $t$-designs

Parity declustering allows faster reconstruction of a disk array when some disk fails. Moreover, it guarantees uniform reconstruction workload on all surviving disks. It has been shown that parity declustering for one-failure tolerant array codes can be obtained via Balanced Incomplete Block Designs. We extend this technique for array codes that can tolerate an arbitrary number of disk failures via $t$-designs.

cs.IT↗