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P4LoF: Scheduling Loop-Free Multi-Flow Updates in Programmable Networks
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作者 Jiqiang Xia Qi Zhan +2 位作者 Le Tian Yuxiang Hu Jianhua Peng 《Computers, Materials & Continua》 2026年第1期1236-1254,共19页
The rapid growth of distributed data-centric applications and AI workloads increases demand for low-latency,high-throughput communication,necessitating frequent and flexible updates to network routing configurations.H... The rapid growth of distributed data-centric applications and AI workloads increases demand for low-latency,high-throughput communication,necessitating frequent and flexible updates to network routing configurations.However,maintaining consistent forwarding states during these updates is challenging,particularly when rerouting multiple flows simultaneously.Existing approaches pay little attention to multi-flow update,where improper update sequences across data plane nodes may construct deadlock dependencies.Moreover,these methods typically involve excessive control-data plane interactions,incurring significant resource overhead and performance degradation.This paper presents P4LoF,an efficient loop-free update approach that enables the controller to reroute multiple flows through minimal interactions.P4LoF first utilizes a greedy-based algorithm to generate the shortest update dependency chain for the single-flow update.These chains are then dynamically merged into a dependency graph and resolved as a Shortest Common Super-sequence(SCS)problem to produce the update sequence of multi-flow update.To address deadlock dependencies in multi-flow updates,P4LoF builds a deadlock-fix forwarding model that leverages the flexible packet processing capabilities of the programmable data plane.Experimental results show that P4LoF reduces control-data plane interactions by at least 32.6%with modest overhead,while effectively guaranteeing loop-free consistency. 展开更多
关键词 Network management update consistency programmable data plane P4
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SP-Sketch:Persistent Flow Detection with Sliding Windows on Programmable Switches
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作者 Yuqian Huang Luyi Chen +1 位作者 Zilun Peng Lin Cui 《Computers, Materials & Continua》 2025年第9期6015-6034,共20页
Persistent flows are defined as network flows that persist over multiple time intervals and continue to exhibit activity over extended periods,which are critical for identifying long-term behaviors and subtle security... Persistent flows are defined as network flows that persist over multiple time intervals and continue to exhibit activity over extended periods,which are critical for identifying long-term behaviors and subtle security threats.Programmable switches provide line-rate packet processing to meet the requirements of high-speed network environments,yet they are fundamentally limited in computational and memory resources.Accurate and memoryefficient persistent flow detection on programmable switches is therefore essential.However,existing approaches often rely on fixed-window sketches or multiple sketches instances,which either suffer from insufficient temporal precision or incur substantial memory overhead,making them ineffective on programmable switches.To address these challenges,we propose SP-Sketch,an innovative sliding-window-based sketch that leverages a probabilistic update mechanism to emulate slot expiration without maintaining multiple sketch instances.This innovative design significantly reduces memory consumption while preserving high detection accuracy across multiple time intervals.We provide rigorous theoretical analyses of the estimation errors,deriving precise error bounds for the proposed method,and validate our approach through comprehensive implementations on both P4 hardware switches(with Intel Tofino ASIC)and software switches(i.e.,BMv2).Experimental evaluations using real-world traffic traces demonstrate that SP-Sketch outperforms traditional methods,improving accuracy by up to 20%over baseline sliding window approaches and enhancing recall by 5%compared to non-sliding alternatives.Furthermore,SP-Sketch achieves a significant reduction in memory utilization,reducing memory consumption by up to 65%compared to traditional methods,while maintaining a robust capability to accurately track persistent flow behavior over extended time periods. 展开更多
关键词 SKETCH persistent flow sliding window programmable switches probability subtraction
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Programmable Hierarchical Kirigami Through Controlling Local Cuts
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作者 Han Pan Peng Sun +1 位作者 Lu Dai Rui Xiao 《Acta Mechanica Solida Sinica》 2025年第5期825-833,共9页
Kirigami,through introducing cuts into a thin sheet,can greatly improve the stretchability of structures and also generate complex patterns,showing potentials in various applications.Interestingly,even with the same c... Kirigami,through introducing cuts into a thin sheet,can greatly improve the stretchability of structures and also generate complex patterns,showing potentials in various applications.Interestingly,even with the same cutting pattern,the mechanical response of kirigami metamaterials can exhibit significant differences depending on the cutting angles in respect to the loading direction.In this work,we investigate the structural deformation of kirigami metamaterials with square domains and varied cutting angles of 0°and 45°.We further introduce a second level of cutting on the basis of the first cutting pattern.By combining experiments and finite element simulations,it is found that,compared to the commonly used 0°cuts,the two-level kirigami metamaterials with 45°cuts exhibit a unique alternating arrangement phenomenon of expanded/unexpanded states in the loading process,which also results in distinct stress–strain response.Through tuning the cutting patterns of metamaterials with 45°cuts,precise control of the rotation of the kirigami unit is realized,leading to kirigami metamaterials with encryption properties.The current work demonstrates the programmability of structural deformation in hierarchical kirigami metamaterials through controlling the local cutting modes. 展开更多
关键词 Kirigami metamaterials Hierarchical cuts programmable structure Buckling instability
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Inverse Design of a NURBS-Based Chiral Metamaterial Via Machine Learning for Programmable Mechanical Deformation
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作者 Xiuhui Hou Wenhao Zhao +1 位作者 Kai Zhang Zichen Deng 《Acta Mechanica Solida Sinica》 2025年第5期739-748,共10页
Chiral metamaterials are manmade structures with extraordinary mechanical properties derived from their special geometric design instead of chemical composition.To make the mechanical deformation programmable,the non-... Chiral metamaterials are manmade structures with extraordinary mechanical properties derived from their special geometric design instead of chemical composition.To make the mechanical deformation programmable,the non-uniform rational B-spline(NURBS)curves are taken to replace the traditional ligament boundaries of the chiral structure.The Neural networks are innovatively inserted into the calculation of mechanical properties of the chiral structure instead of finite element methods to improve computational efficiency.For the problem of finding structure configuration with specified mechanical properties,such as Young’s modulus,Poisson’s ratio or deformation,an inverse design method using the Neural network-based proxy model is proposed to build the relationship between mechanical properties and geometric configuration.To satisfy some more complex deformation requirements,a non-homogeneous inverse design method is proposed and verified through simulation and experiments.Numerical and test results reveal the high computational efficiency and accuracy of the proposed method in the design of chiral metamaterials. 展开更多
关键词 Chiral metamaterials Inverse design Machine learning programmable mechanical deformation
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Body Temperature Programmable Shape Memory Thermoplastic Rubber
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作者 Taoxi Wang Zhuo Liu +5 位作者 Fu Jian Xing Shen Chen Wang Huwei Bian Tao Jiang Wei Min Huang 《Journal of Polymer Materials》 2025年第1期81-94,共14页
This paper presents the development of a thermoplastic shape memory rubber that can be programmed at human body temperature for comfortable fitting applications.We hybridized commercially available thermoplastic rubbe... This paper presents the development of a thermoplastic shape memory rubber that can be programmed at human body temperature for comfortable fitting applications.We hybridized commercially available thermoplastic rubber(TPR)used in the footwear industry with un-crosslinked polycaprolactone(PCL)to create two samples,namely TP6040 and TP7030.The shape memory behavior,elasticity,and thermo-mechanical response of these rubbers were systematically investigated.The experimental results demonstrated outstanding shape memory performance,with both samples achieving shape fixity ratios(Rf)and shape recovery ratios(R_(r))exceeding 94%.TP6040 exhibited a fitting time of 80 s at body temperature(37℃),indicating a rapid response for shape fixing.The materials also showed good elasticity before and after programming,which is crucial for comfort fitting.These findings suggest that the developed shape memory thermoplastic rubber has potential applications in personalized comfort fitting products,offering advantages over traditional customization techniques in terms of efficiency and cost-effectiveness. 展开更多
关键词 Thermoplastic rubber POLYCAPROLACTONE shape memory polymers body temperature programmable comfort fitting
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基于PMAC数控车床装调与维修实验台的硬件设计
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作者 张志红 《消费电子》 2025年第6期194-196,共3页
本文研究开放式数控系统的数控车床装调与维修实验台的设计。在硬件设计阶段,采用了PMAC+IPC的数控系统设计形式,并选择了电气驱动部件,交流伺服电机和与之相适应的伺服驱动器,构成了其硬件与PMAC运动控制器的连接。
关键词 开放式数控系统 pmac 运动控制器 数控维修
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Machine learning-encoded multiscale modelling and Bayesian optimization framework to design programmable metamaterials
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作者 Yizhe Liu Xiaoyan Li +1 位作者 Yuli Chen Bin Ding 《Acta Mechanica Sinica》 2025年第1期226-245,共20页
Advanced programmable metamaterials with heterogeneous microstructures have become increasingly prevalent in scientific and engineering disciplines attributed to their tunable properties.However,exploring the structur... Advanced programmable metamaterials with heterogeneous microstructures have become increasingly prevalent in scientific and engineering disciplines attributed to their tunable properties.However,exploring the structure-property relationship in these materials,including forward prediction and inverse design,presents substantial challenges.The inhomogeneous microstructures significantly complicate traditional analytical or simulation-based approaches.Here,we establish a novel framework that integrates the machine learning(ML)-encoded multiscale computational method for forward prediction and Bayesian optimization for inverse design.Unlike prior end-to-end ML methods limited to specific problems,our framework is both load-independent and geometry-independent.This means that a single training session for a constitutive model suffices to tackle various problems directly,eliminating the need for repeated data collection or training.We demonstrate the efficacy and efficiency of this framework using metamaterials with designable elliptical holes or lattice honeycombs microstructures.Leveraging accelerated forward prediction,we can precisely customize the stiffness and shape of metamaterials under diverse loading scenarios,and extend this capability to multi-objective customization seamlessly.Moreover,we achieve topology optimization for stress alleviation at the crack tip,resulting in a significant reduction of Mises stress by up to 41.2%and yielding a theoretical interpretable pattern.This framework offers a general,efficient and precise tool for analyzing the structure-property relationships of novel metamaterials. 展开更多
关键词 Artificial neural network Multiscale computation Bayesian optimization Inverse design programmable metamaterials
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Demonstration and performance evaluation of reconfigurable multiband microwave filters using a programmable photonic integrated circuit
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作者 ASHITOSH VELAMURI KUMAR PIYUSH +6 位作者 YASH RAJ ARNAB GOSWAMI ANANDHA PADMANABHAN NITIN GHODGAONKAR DINANATH SONI JANAKIRAMAN VIRARAGHAVAN BIJOY KRISHNA DAS 《Photonics Research》 2025年第12期3341-3361,共21页
A programmable silicon photonic multiband microwave filter with tunable bandwidths has been demonstrated.The filter has been successfully used to set up a radio-over-fiber link operating in the X-band as a proof of co... A programmable silicon photonic multiband microwave filter with tunable bandwidths has been demonstrated.The filter has been successfully used to set up a radio-over-fiber link operating in the X-band as a proof of concept.For this purpose,we have investigated the programmable photonic integrated circuit comprising 14 tunable balanced Mach–Zehnder interferometers designed into a square mesh architecture and fabricated using CMOS-compatible silicon photonic technology. 展开更多
关键词 programmable silicon photonic multiband microwave filter programmable photonic integrated circuit balanced Mach Zehnder interferometers CMOS compatible silicon photonic technology square mesh architecture radio fiber link reconfigurable multiband microwave filters
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Programmable array antenna based on nematic liquid crystals for the Ka-band
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作者 WANG Qiang KE Junchen BAI Lin 《Journal of Southeast University(English Edition)》 2025年第1期78-83,共6页
A programmable low-profile array antenna based on nematic liquid crystals(NLCs)is proposed.Each antenna unit comprises a square patch radiating structure and a tunable NLC-based phase shifter capable of achieving a ph... A programmable low-profile array antenna based on nematic liquid crystals(NLCs)is proposed.Each antenna unit comprises a square patch radiating structure and a tunable NLC-based phase shifter capable of achieving a phase shift exceeding 360°with high linearity.First,the above 64 antenna units are periodically arranged into an 8×8 NLC-based antenna array,and the bias voltage of the NLC-based phase shifter loaded on the antenna unit is adjusted through the control of the field-programmable gate array(FPGA)programming sequences.This configuration enables precise phase changes for all 64 channels.Numerical simulation,sample processing,and experimental measurements of the antenna array are conducted to validate the performance of the antenna.The numerical and experimental results demonstrate that the proposed antenna performs well within the frequency range of 19.5-20.5 GHz,with a 3 dB relative bandwidth of 10%and a maximum main lobe gain of 14.1 dBi.A maximum scanning angle of±34°is achieved through the adjustment of the FPGA programming sequence.This NLC-based programmable array antenna shows promising potential for applications in satellite communication. 展开更多
关键词 array antenna nematic liquid crystals electronically beam scanning field programmable gate array(FPGA)
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中国高科技产业发展的“自然道路”及劳动者境遇
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作者 贾文娟 《浙江社会科学》 北大核心 2026年第2期41-53,156,共14页
各国的高科技产业发展与劳动者境遇,均深植于其独特的社会经济发展历史与政治经济背景,呈现本土特质。中国高科技产业在因地制宜、循序渐进的逻辑下,因循“自然道路”发展,具有包容性、均衡性、技术密集性等特征,并面对着过度使用劳动... 各国的高科技产业发展与劳动者境遇,均深植于其独特的社会经济发展历史与政治经济背景,呈现本土特质。中国高科技产业在因地制宜、循序渐进的逻辑下,因循“自然道路”发展,具有包容性、均衡性、技术密集性等特征,并面对着过度使用劳动力与产业内卷两大挑战。在这种情况下,大型数智科技企业形成了纵向一体化的“大厂”生产体制,其具有劳动强度高、优绩主义盛行、弱劳动关系化等特征,并在产业周期的不同阶段对劳动者境遇产生了迥异影响。着眼产业发展与劳动者境遇改善的良性循环,我国仍需从优化劳动法规、提升教育方式入手,对“自然道路”进行扬长补短。 展开更多
关键词 自然道路 高科技产业 程序员 生产体制
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SRv6技术在数据转发平面的应用与挑战综述
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作者 马东超 赵肖河 +2 位作者 王晨 黄思恬 马礼 《软件学报》 北大核心 2026年第1期378-397,共20页
基于IPv6的段路由(segment routing over IPv6,SRv6)作为下一代网络架构的关键使能技术,通过引入灵活的段路由转发平面,为提升网络智能化水平、拓展业务服务能力带来革新机遇.旨在全面梳理近年来SRv6的演进趋势和研究现状.首先,系统总结... 基于IPv6的段路由(segment routing over IPv6,SRv6)作为下一代网络架构的关键使能技术,通过引入灵活的段路由转发平面,为提升网络智能化水平、拓展业务服务能力带来革新机遇.旨在全面梳理近年来SRv6的演进趋势和研究现状.首先,系统总结SRv6在网络架构与性能、网络管理与运维以及新兴业务支撑等方面的应用,凸显了SRv6精细调度、灵活编程、服务融合等独特优势.与此同时,深入剖析SRv6在性能与效率、可靠性与安全性、部署与演进策略这3个方面所面临的关键挑战,并重点讨论当前主流的解决思路和发展趋势.最后,立足产业生态构建、人工智能引入、行业融合创新等视角,对SRv6未来的发展方向和挑战进行前瞻性思考和展望.研究成果将为运营商构建开放、智能、安全的新一代网络提供理论参考和实践指导. 展开更多
关键词 SRv6 软件定义网络 网络可编程 流量工程 服务功能链
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基于FPGA的低照度图像增强算法的研究与实现
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作者 肖剑 李志斌 +2 位作者 杨进 程鸿亮 胡欣 《计算机工程与科学》 北大核心 2026年第1期98-107,共10页
针对深度学习等软件方法实现低照度图像增强算法时,计算量大且复杂、实时性差等问题,实现了一种便于部署到FPGA上的基于Retinex模型的改进的低照度图像增强算法。该算法首先将输入的低照度图像进行RGB色彩空间到YCbCr色彩空间的转换,取... 针对深度学习等软件方法实现低照度图像增强算法时,计算量大且复杂、实时性差等问题,实现了一种便于部署到FPGA上的基于Retinex模型的改进的低照度图像增强算法。该算法首先将输入的低照度图像进行RGB色彩空间到YCbCr色彩空间的转换,取空间中的Y分量作为初始照度分量对其进行自适应伽玛校正和双边滤波处理,提高初始照度分量亮度的同时实现对图像的降噪和对细节的增强,接着依据Retinex模型得到增强图像。将增强后的图像再次转换到YCbCr色彩空间,对Y分量进行多尺度细节增强后转换到RGB色彩空间,作为最终的增强结果输出。实验结果表明,将在FPGA上部署所提出的低照度图像增强算法和在MATLAB上进行算法仿真后的输出图像进行比较,两者的相似度指标SSIM接近1,肉眼很难分辨出两者的差别;在时钟频率为200 MHz时,处理一幅分辨率为1280×720的图像仅需约21 ms;将所提出的算法部署在国产某型号的FPGA上时资源占用率较低,功耗为3.357 W,满足低功耗要求,具有较大的实用意义和工程应用价值。 展开更多
关键词 图像增强 FPGA 自适应伽玛校正 双边滤波 多尺度细节增强
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欧盟对中亚国家教育外交:基于政策演进的实践行动
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作者 王正青 熊彦皓 《比较教育研究》 北大核心 2026年第2期40-50,共11页
教育外交作为公共外交的形式之一,具有增进民心相通和影响青年价值观等价值。作为一体化程度最高的区域性国际组织,欧盟基于地缘政治考量,持续调整对中亚国家的教育外交政策,经历初步接触、主动参与、拓展推进和调整转型四个阶段。欧盟... 教育外交作为公共外交的形式之一,具有增进民心相通和影响青年价值观等价值。作为一体化程度最高的区域性国际组织,欧盟基于地缘政治考量,持续调整对中亚国家的教育外交政策,经历初步接触、主动参与、拓展推进和调整转型四个阶段。欧盟在实践中形成教育机构互联、业内人员互访、教学资源互享和援助项目互赢四条行动路径,推动与中亚国家的全方位合作,逐渐建立引领发展走向的统筹协商机制、确保日常运作的组织完善机制、推动政策落地的项目载体机制、夯实实施基础的资金保障机制,以及检验实践效果的质量评估机制。欧盟对中亚教育外交强化了欧盟在教育合作与价值观传播层面的影响力,为中亚青年一代提供了更多教育选择。 展开更多
关键词 欧盟 中亚国家 教育外交 欧盟价值观 伊拉斯谟+计划
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基于PMAC的并行双CPU开放式数控系统 被引量:23
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作者 王春 温圣 +1 位作者 关慧贞 王永青 《制造技术与机床》 CSCD 北大核心 2001年第3期15-17,共3页
提出了一种以 PMAC运动控制器为控制系统核心、工业控制机为系统支撑单元的双 CPU开放式数控系统。介绍了该系统的功能、硬件和软件设计方法。实践证明,基于 PMAC的数控系统完全可以实现人机接口的定制和实时控制部件的参... 提出了一种以 PMAC运动控制器为控制系统核心、工业控制机为系统支撑单元的双 CPU开放式数控系统。介绍了该系统的功能、硬件和软件设计方法。实践证明,基于 PMAC的数控系统完全可以实现人机接口的定制和实时控制部件的参数化。 展开更多
关键词 pmac 双CPU 数控系统 壁板铣床
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基于PMAC的六轴纤维缠绕机开发及应用 被引量:11
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作者 韩振宇 孟庆鑫 +2 位作者 路华 富宏亚 王永章 《哈尔滨工业大学学报》 EI CAS CSCD 北大核心 2007年第11期1799-1802,共4页
以工控机和PMAC运动控制器为基础构建了六轴纤维缠绕机的控制系统.参照开放式数控体系结构,采用面向对象技术开发了缠绕机的系统软件.并将六轴缠绕机应用到了压力容器的五坐标缠绕和三通管的缠绕中.偏航坐标的引入解决了压力容器缠绕时... 以工控机和PMAC运动控制器为基础构建了六轴纤维缠绕机的控制系统.参照开放式数控体系结构,采用面向对象技术开发了缠绕机的系统软件.并将六轴缠绕机应用到了压力容器的五坐标缠绕和三通管的缠绕中.偏航坐标的引入解决了压力容器缠绕时在封头段的纤维束扭曲和过度堆积问题.升降坐标的引入使得三通管支管的纤维缠绕成型成为可能. 展开更多
关键词 纤维缠绕 pmac 三通管
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基于PMAC运动控制器的开放式数控系统 被引量:14
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作者 白建华 刘恒娟 范剑 《机电工程》 CAS 2004年第4期16-19,共4页
讨论了开放式CNC的概念,介绍了一种以PMAC运动控制器为核心,工业PC为系统支撑,运行在Windows平台下的开放式数控系统,并阐述该系统的硬件结构和软件设计。实践证明,该系统完全能满足现代数控机床对开放式数控系统的要求。
关键词 开放式数控系统 pmac 运动控制器 数控程序 数控机床 硬件结构
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适用于轻量级客户端的多方隐私集合求交协议
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作者 杨乐 何慧阳 +2 位作者 尤玮婧 张佰韬 林璟锵 《信息网络安全》 北大核心 2026年第2期251-262,共12页
随着隐私保护需求的增长,多方隐私集合求交(MP-PSI)协议作为一种关键的隐私计算技术,在多个领域受到广泛关注。然而,在计算资源受限的环境中,现有的MP-PSI协议往往面临客户端计算负担较重的问题,限制了其在实际应用中的可行性。为解决... 随着隐私保护需求的增长,多方隐私集合求交(MP-PSI)协议作为一种关键的隐私计算技术,在多个领域受到广泛关注。然而,在计算资源受限的环境中,现有的MP-PSI协议往往面临客户端计算负担较重的问题,限制了其在实际应用中的可行性。为解决这一问题,文章提出一种基于布隆过滤器和同态加密的轻量级客户端MP-PSI协议。该协议通过引入不经意可编程伪随机函数,将大部分计算任务从客户端转移到服务器,从而显著降低了客户端的计算开销并充分利用了服务器的计算资源。实验结果表明,该协议在客户端计算时间和服务器计算效率方面均优于现有方案。协议在半诚实模型中可抵抗至多n-1个参与方合谋攻击,可确保诚实参与方的隐私。该协议为资源受限环境下的隐私保护问题提供了新的解决方案。 展开更多
关键词 多方隐私集合求交 轻量级客户端 布隆过滤器 不经意可编程伪随机函数
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基于PMAC的数控系统控制性能的研究 被引量:10
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作者 路华 文立伟 +1 位作者 付云忠 王永章 《组合机床与自动化加工技术》 北大核心 2003年第2期34-35,37,共3页
研究了基于PMAC多轴数控系统的极限特性和动态特性及PID参数调节 。
关键词 数控系统 控制特性 PID调节 pmac
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基于PMAC的直线电机速度/加速度前馈控制 被引量:22
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作者 赖国庭 吴玉厚 富大伟 《控制工程》 CSCD 2003年第6期555-557,共3页
论述了PMAC运动控制器的性能及其伺服控制功能;简述了直线电机的伺服控制策略;提出了基于PMAC的直线电机速度/加速度前馈控制算法;对算法中各个参数的作用做了简单的介绍,阐述了速度前馈和加速度前馈参数的性能及其调整。通过实验得到证... 论述了PMAC运动控制器的性能及其伺服控制功能;简述了直线电机的伺服控制策略;提出了基于PMAC的直线电机速度/加速度前馈控制算法;对算法中各个参数的作用做了简单的介绍,阐述了速度前馈和加速度前馈参数的性能及其调整。通过实验得到证明,引入适当的速度和加速度前馈,可较好地补偿系统的跟随误差,从而提高系统的性能。 展开更多
关键词 直线电机 运动控制器 pmac 伺服控制 速度/加速度前馈控制
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PMAC控制器中PID调节的应用 被引量:32
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作者 吴玉厚 潘振宁 +1 位作者 张珂 高玉山 《沈阳建筑工程学院学报(自然科学版)》 2004年第2期153-157,共5页
介绍了开放式运动控制器PMAC的结构及原理.阐述了PMAC的PID滤波器工作原理以及PID调节,并将此控制器作为实验磨床的数控系统.引入了前馈控制,构成了具有反馈和前馈的复合控制的系统结构,提高了系统的控制精度,实现了"无误差调节&qu... 介绍了开放式运动控制器PMAC的结构及原理.阐述了PMAC的PID滤波器工作原理以及PID调节,并将此控制器作为实验磨床的数控系统.引入了前馈控制,构成了具有反馈和前馈的复合控制的系统结构,提高了系统的控制精度,实现了"无误差调节",使伺服特性达到刚性强、稳定性好、跟随误差小,进而实现精密加工的目的.通过对一些重要参数的调节,研究了PMAC控制器中PID的调节,获得合理的系统PID参数,达到良好的稳态和动态性能,最终实现跟随误差的最小化,为实现PMAC在精密加工中的应用打下基础. 展开更多
关键词 pmac 磨床 反馈 PID调节 跟随误差
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